(define (domain grounded-STRIPS-PSR) (:requirements :strips ) (:predicates (NOT-CLOSED-CB3) (UPDATED-CB3) (NOT-CLOSED-CB4) (UPDATED-CB4) (NOT-CLOSED-CB5) (UPDATED-CB5) (NOT-CLOSED-CB1) (CLOSED-SD2) (NOT-CLOSED-CB2) (NOT-CLOSED-CB6) (CLOSED-SD6) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD15) (NOT-CLOSED-SD1) (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-SD14) (NOT-CLOSED-SD16) (NOT-CLOSED-SD17) (NOT-CLOSED-SD18) (NOT-UPDATED-CB1) (NOT-UPDATED-CB2) (NOT-UPDATED-CB6) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-CB3) (CLOSED-CB1) (UPDATED-CB6) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-SD18) (CLOSED-SD17) (CLOSED-SD16) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD12) (CLOSED-SD11) (CLOSED-SD10) (CLOSED-SD9) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-SD1) (CLOSED-CB5) (CLOSED-CB4) (NOT-CLOSED-SD15) (NOT-CLOSED-SD8) (NOT-CLOSED-SD7) (NOT-CLOSED-SD6) (NOT-CLOSED-SD2) (NOT-UPDATED-CB5) (NOT-UPDATED-CB4) (NOT-UPDATED-CB3) (GOAL-REACHED) (do-CLOSE_SD18-condeffs) (do-CLOSE_SD17-condeffs) (do-CLOSE_SD16-condeffs) (do-CLOSE_SD13-condeffs) (do-CLOSE_SD9-condeffs) (do-CLOSE_SD5-condeffs) (do-CLOSE_SD4-condeffs) (do-CLOSE_SD3-condeffs) (do-CLOSE_SD1-condeffs) (do-WAIT_CB6-condeffs) (do-WAIT_CB2-condeffs) (do-WAIT_CB1-condeffs) (do-CLOSE_SD15-condeffs) (do-CLOSE_SD8-condeffs) (do-CLOSE_SD7-condeffs) (do-CLOSE_SD6-condeffs) (do-CLOSE_SD2-condeffs) (do-WAIT_CB3-condeffs) (do-normal) (done-0) (done-1) ) (:action REACH-GOAL-0 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD18) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-1 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-2 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-3 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-4 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-5 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-6 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-7 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB2) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-8 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-9 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-10 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-11 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-12 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-13 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-14 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD3) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-15 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-CB2) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-16 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-17 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-18 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-19 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-20 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-21 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-22 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-23 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB2) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-24 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-25 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-26 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-27 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-28 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-29 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-30 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) (CLOSED-SD3) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-31 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) (CLOSED-CB2) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-32 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) (CLOSED-CB6) (CLOSED-SD7) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-33 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-34 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-35 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-36 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-37 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-38 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-39 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB2) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-40 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-41 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-42 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-43 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-44 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-45 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-46 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD3) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-47 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-CB2) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-48 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-49 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-50 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-51 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-52 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-53 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-54 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-55 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB2) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-56 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-57 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-58 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-59 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-60 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-61 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-62 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) (CLOSED-SD3) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-63 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) (CLOSED-CB2) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-64 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD18) (CLOSED-CB6) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-65 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-66 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-67 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-68 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-69 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-70 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-71 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB2) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-72 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-73 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-74 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-75 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-76 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-77 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-78 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD3) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-79 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-CB2) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-80 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-81 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-82 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-83 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-84 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-85 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-86 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-87 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB2) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-88 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-89 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-90 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-91 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-92 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-93 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-94 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) (CLOSED-SD3) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-95 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) (CLOSED-CB2) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-96 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) (CLOSED-CB6) (CLOSED-SD18) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-97 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-98 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-99 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-100 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-101 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-102 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-103 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB2) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-104 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-105 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-106 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-107 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-108 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-109 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-110 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD3) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-111 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-CB2) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-112 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-113 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-114 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-115 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-116 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-117 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-118 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-119 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB2) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-120 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-121 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-122 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-123 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-124 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-SD3) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-125 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-126 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB2) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-127 :parameters () :precondition (and (do-normal) (UPDATED-CB6) (UPDATED-CB5) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB1) (CLOSED-SD1) (CLOSED-CB6) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD6) (CLOSED-SD17) (CLOSED-CB3) (CLOSED-SD8) ) :effect (and (GOAL-REACHED) ) ) (: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 (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-SD15) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) ) :effect (and (done-0) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action CLOSE_SD18-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (NOT-CLOSED-SD15) ) :effect (and (done-0) ) ) (:action CLOSE_SD18-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-0) ) ) (:action CLOSE_SD18-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (NOT-CLOSED-SD3) ) :effect (and (done-0) ) ) (:action CLOSE_SD18-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD18-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (CLOSED-SD13) (CLOSED-SD6) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD7) (CLOSED-CB6) ) :effect (and (done-1) (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action CLOSE_SD18-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (NOT-CLOSED-SD13) ) :effect (and (done-1) ) ) (:action CLOSE_SD18-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-1) ) ) (:action CLOSE_SD18-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-1) ) ) (:action CLOSE_SD18-condeff1-no-3 :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-1) ) ) (:action CLOSE_SD18-condeff1-no-4 :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-1) ) ) (:action CLOSE_SD18-condeff1-no-5 :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (NOT-CLOSED-CB6) ) :effect (and (done-1) ) ) (:action CLOSE_SD18-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD18-condeffs)) (not (done-0)) (not (done-1)) ) ) (: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 (not (do-normal)) (do-CLOSE_SD17-condeffs) (CLOSED-SD17) (not (NOT-CLOSED-SD17)) ) ) (:action CLOSE_SD17-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD17-condeffs) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-CB3) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD17-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD17-condeffs) (NOT-CLOSED-SD16) ) :effect (and (done-0) ) ) (:action CLOSE_SD17-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD17-condeffs) (NOT-CLOSED-SD8) ) :effect (and (done-0) ) ) (:action CLOSE_SD17-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD17-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD17-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD17-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD17-condeffs)) (not (done-0)) ) ) (: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 (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-SD17) (CLOSED-SD8) (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-SD17) ) :effect (and (done-0) ) ) (:action CLOSE_SD16-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (NOT-CLOSED-SD8) ) :effect (and (done-0) ) ) (:action CLOSE_SD16-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD16-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD16-condeffs)) (not (done-0)) ) ) (: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_SD13 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD13) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (not (do-normal)) (do-CLOSE_SD13-condeffs) (CLOSED-SD13) (not (NOT-CLOSED-SD13)) ) ) (:action CLOSE_SD13-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (CLOSED-SD6) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-CB2) ) :effect (and (done-0) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action CLOSE_SD13-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-0) ) ) (:action CLOSE_SD13-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-0) ) ) (:action CLOSE_SD13-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-0) ) ) (:action CLOSE_SD13-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (NOT-CLOSED-SD3) ) :effect (and (done-0) ) ) (:action CLOSE_SD13-condeff0-no-4 :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD13-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (CLOSED-SD6) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD7) (CLOSED-SD18) (CLOSED-CB6) ) :effect (and (done-1) (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action CLOSE_SD13-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-1) ) ) (:action CLOSE_SD13-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-1) ) ) (:action CLOSE_SD13-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-1) ) ) (:action CLOSE_SD13-condeff1-no-3 :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-1) ) ) (:action CLOSE_SD13-condeff1-no-4 :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (NOT-CLOSED-SD18) ) :effect (and (done-1) ) ) (:action CLOSE_SD13-condeff1-no-5 :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (NOT-CLOSED-CB6) ) :effect (and (done-1) ) ) (:action CLOSE_SD13-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD13-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD13-condeffs)) (not (done-0)) (not (done-1)) ) ) (: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 (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-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-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD9-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD9-condeffs)) (not (done-0)) ) ) (: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 (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-SD13) (CLOSED-SD6) (CLOSED-SD4) (CLOSED-SD3) (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-SD13) ) :effect (and (done-0) ) ) (:action CLOSE_SD5-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-0) ) ) (:action CLOSE_SD5-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-0) ) ) (:action CLOSE_SD5-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-SD3) ) :effect (and (done-0) ) ) (:action CLOSE_SD5-condeff0-no-4 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD5-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (CLOSED-SD13) (CLOSED-SD6) (CLOSED-SD4) (CLOSED-SD7) (CLOSED-SD18) (CLOSED-CB6) ) :effect (and (done-1) (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action CLOSE_SD5-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-SD13) ) :effect (and (done-1) ) ) (:action CLOSE_SD5-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-1) ) ) (:action CLOSE_SD5-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-1) ) ) (:action CLOSE_SD5-condeff1-no-3 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-1) ) ) (:action CLOSE_SD5-condeff1-no-4 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-SD18) ) :effect (and (done-1) ) ) (:action CLOSE_SD5-condeff1-no-5 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-CB6) ) :effect (and (done-1) ) ) (:action CLOSE_SD5-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD5-condeffs)) (not (done-0)) (not (done-1)) ) ) (: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 (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-SD13) (CLOSED-SD6) (CLOSED-SD5) (CLOSED-SD3) (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-SD13) ) :effect (and (done-0) ) ) (:action CLOSE_SD4-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-0) ) ) (:action CLOSE_SD4-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-0) ) ) (:action CLOSE_SD4-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-SD3) ) :effect (and (done-0) ) ) (:action CLOSE_SD4-condeff0-no-4 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD4-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (CLOSED-SD13) (CLOSED-SD6) (CLOSED-SD5) (CLOSED-SD7) (CLOSED-SD18) (CLOSED-CB6) ) :effect (and (done-1) (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action CLOSE_SD4-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-SD13) ) :effect (and (done-1) ) ) (:action CLOSE_SD4-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-1) ) ) (:action CLOSE_SD4-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-1) ) ) (:action CLOSE_SD4-condeff1-no-3 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-1) ) ) (:action CLOSE_SD4-condeff1-no-4 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-SD18) ) :effect (and (done-1) ) ) (:action CLOSE_SD4-condeff1-no-5 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-CB6) ) :effect (and (done-1) ) ) (:action CLOSE_SD4-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD4-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) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (not (do-normal)) (do-CLOSE_SD3-condeffs) (CLOSED-SD3) (not (NOT-CLOSED-SD3)) ) ) (:action CLOSE_SD3-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (CLOSED-SD13) (CLOSED-SD6) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-CB2) ) :effect (and (done-0) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action CLOSE_SD3-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (NOT-CLOSED-SD13) ) :effect (and (done-0) ) ) (:action CLOSE_SD3-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-0) ) ) (:action CLOSE_SD3-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-0) ) ) (:action CLOSE_SD3-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-0) ) ) (:action CLOSE_SD3-condeff0-no-4 :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD3-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (CLOSED-SD15) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-CB2) ) :effect (and (done-1) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action CLOSE_SD3-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (NOT-CLOSED-SD15) ) :effect (and (done-1) ) ) (:action CLOSE_SD3-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (NOT-CLOSED-SD18) ) :effect (and (done-1) ) ) (:action CLOSE_SD3-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-1) ) ) (:action CLOSE_SD3-condeff1-no-3 :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-1) ) ) (:action CLOSE_SD3-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD3-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD3-condeffs)) (not (done-0)) (not (done-1)) ) ) (: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 (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-SD2) (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-SD2) ) :effect (and (done-0) ) ) (:action CLOSE_SD1-condeff0-no-1 :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 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-SD15) ) :effect (and (done-0) (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action WAIT_CB6-condeff0-no-0 :parameters () :precondition (and (do-WAIT_CB6-condeffs) (NOT-CLOSED-SD15) ) :effect (and (done-0) ) ) (:action WAIT_CB6-condeff1-yes :parameters () :precondition (and (do-WAIT_CB6-condeffs) (CLOSED-SD13) (CLOSED-SD6) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD7) (CLOSED-SD18) ) :effect (and (done-1) (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action WAIT_CB6-condeff1-no-0 :parameters () :precondition (and (do-WAIT_CB6-condeffs) (NOT-CLOSED-SD13) ) :effect (and (done-1) ) ) (:action WAIT_CB6-condeff1-no-1 :parameters () :precondition (and (do-WAIT_CB6-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-1) ) ) (:action WAIT_CB6-condeff1-no-2 :parameters () :precondition (and (do-WAIT_CB6-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-1) ) ) (:action WAIT_CB6-condeff1-no-3 :parameters () :precondition (and (do-WAIT_CB6-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-1) ) ) (:action WAIT_CB6-condeff1-no-4 :parameters () :precondition (and (do-WAIT_CB6-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-1) ) ) (:action WAIT_CB6-condeff1-no-5 :parameters () :precondition (and (do-WAIT_CB6-condeffs) (NOT-CLOSED-SD18) ) :effect (and (done-1) ) ) (:action WAIT_CB6-endof-condeffs :parameters () :precondition (and (do-WAIT_CB6-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-WAIT_CB6-condeffs)) (not (done-0)) (not (done-1)) ) ) (: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 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-SD13) (CLOSED-SD6) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD3) ) :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-SD13) ) :effect (and (done-0) ) ) (:action WAIT_CB2-condeff0-no-1 :parameters () :precondition (and (do-WAIT_CB2-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-0) ) ) (:action WAIT_CB2-condeff0-no-2 :parameters () :precondition (and (do-WAIT_CB2-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-0) ) ) (:action WAIT_CB2-condeff0-no-3 :parameters () :precondition (and (do-WAIT_CB2-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-0) ) ) (:action WAIT_CB2-condeff0-no-4 :parameters () :precondition (and (do-WAIT_CB2-condeffs) (NOT-CLOSED-SD3) ) :effect (and (done-0) ) ) (:action WAIT_CB2-condeff1-yes :parameters () :precondition (and (do-WAIT_CB2-condeffs) (CLOSED-SD15) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) ) :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-SD15) ) :effect (and (done-1) ) ) (:action WAIT_CB2-condeff1-no-1 :parameters () :precondition (and (do-WAIT_CB2-condeffs) (NOT-CLOSED-SD18) ) :effect (and (done-1) ) ) (:action WAIT_CB2-condeff1-no-2 :parameters () :precondition (and (do-WAIT_CB2-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-1) ) ) (:action WAIT_CB2-condeff1-no-3 :parameters () :precondition (and (do-WAIT_CB2-condeffs) (NOT-CLOSED-SD3) ) :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 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 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-SD2) (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-SD2) ) :effect (and (done-0) ) ) (:action WAIT_CB1-condeff0-no-1 :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)) ) ) (: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-SD18 :parameters () :precondition (and (do-normal) (CLOSED-SD18) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD1) (not (CLOSED-SD1)) ) ) (:action OPEN-CB6 :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_SD15 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD15) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (not (do-normal)) (do-CLOSE_SD15-condeffs) (CLOSED-SD15) (not (NOT-CLOSED-SD15)) ) ) (:action CLOSE_SD15-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD15-condeffs) (CLOSED-SD18) (CLOSED-SD7) (CLOSED-SD3) (CLOSED-CB2) ) :effect (and (done-0) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action CLOSE_SD15-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD15-condeffs) (NOT-CLOSED-SD18) ) :effect (and (done-0) ) ) (:action CLOSE_SD15-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD15-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-0) ) ) (:action CLOSE_SD15-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD15-condeffs) (NOT-CLOSED-SD3) ) :effect (and (done-0) ) ) (:action CLOSE_SD15-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD15-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD15-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD15-condeffs) (CLOSED-CB6) ) :effect (and (done-1) (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action CLOSE_SD15-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD15-condeffs) (NOT-CLOSED-CB6) ) :effect (and (done-1) ) ) (:action CLOSE_SD15-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD15-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD15-condeffs)) (not (done-0)) (not (done-1)) ) ) (: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 (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-SD16) (CLOSED-SD17) (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-SD16) ) :effect (and (done-0) ) ) (:action CLOSE_SD8-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-SD17) ) :effect (and (done-0) ) ) (:action CLOSE_SD8-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-CB3) ) :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_SD7 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD7) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :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-SD15) (CLOSED-SD18) (CLOSED-SD3) (CLOSED-CB2) ) :effect (and (done-0) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action CLOSE_SD7-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD15) ) :effect (and (done-0) ) ) (:action CLOSE_SD7-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD18) ) :effect (and (done-0) ) ) (:action CLOSE_SD7-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD3) ) :effect (and (done-0) ) ) (:action CLOSE_SD7-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD7-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (CLOSED-SD13) (CLOSED-SD6) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD18) (CLOSED-CB6) ) :effect (and (done-1) (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action CLOSE_SD7-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD13) ) :effect (and (done-1) ) ) (:action CLOSE_SD7-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-1) ) ) (:action CLOSE_SD7-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-1) ) ) (:action CLOSE_SD7-condeff1-no-3 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-1) ) ) (:action CLOSE_SD7-condeff1-no-4 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD18) ) :effect (and (done-1) ) ) (:action CLOSE_SD7-condeff1-no-5 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-CB6) ) :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_SD6 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD6) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :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-SD13) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD3) (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-SD13) ) :effect (and (done-0) ) ) (:action CLOSE_SD6-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-0) ) ) (:action CLOSE_SD6-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-0) ) ) (:action CLOSE_SD6-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD3) ) :effect (and (done-0) ) ) (:action CLOSE_SD6-condeff0-no-4 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD6-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (CLOSED-SD13) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD7) (CLOSED-SD18) (CLOSED-CB6) ) :effect (and (done-1) (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action CLOSE_SD6-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD13) ) :effect (and (done-1) ) ) (:action CLOSE_SD6-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-1) ) ) (:action CLOSE_SD6-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-1) ) ) (:action CLOSE_SD6-condeff1-no-3 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-1) ) ) (:action CLOSE_SD6-condeff1-no-4 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD18) ) :effect (and (done-1) ) ) (:action CLOSE_SD6-condeff1-no-5 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-CB6) ) :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_SD2 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD2) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (not (do-normal)) (do-CLOSE_SD2-condeffs) (CLOSED-SD2) (not (NOT-CLOSED-SD2)) ) ) (:action CLOSE_SD2-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD2-condeffs) (CLOSED-SD1) (CLOSED-CB1) ) :effect (and (done-0) (NOT-CLOSED-CB1) (not (CLOSED-CB1)) ) ) (:action CLOSE_SD2-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD2-condeffs) (NOT-CLOSED-SD1) ) :effect (and (done-0) ) ) (:action CLOSE_SD2-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD2-condeffs) (NOT-CLOSED-CB1) ) :effect (and (done-0) ) ) (:action CLOSE_SD2-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD2-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD2-condeffs)) (not (done-0)) ) ) (:action WAIT_CB5 :parameters () :precondition (and (do-normal) (NOT-UPDATED-CB5) ) :effect (and (NOT-CLOSED-CB5) (UPDATED-CB5) (not (CLOSED-CB5)) (not (NOT-UPDATED-CB5)) ) ) (: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 (do-normal)) (do-WAIT_CB3-condeffs) 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(and (do-WAIT_CB3-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-WAIT_CB3-condeffs)) (not (done-0)) (not (done-1)) ) ) )