3600 lines
118 KiBLFS
Plaintext
3600 lines
118 KiBLFS
Plaintext
;;
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;; PDDL file for the AIPS2000 Planning Competition
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;; based on the data generated by the airport simulator Astras.
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;;
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;; Author: Sebastian Trueg thisshouldbethecurrentdateandtime :(
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;; Created with PreInstancerDomainExporter 0.6 by Sebastian Trueg <trueg@informatik.uni-freiburg.de>
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;;
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(define (domain airport_fixed_structure)
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(:requirements :typing)
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(:types airplane segment direction airplanetype)
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(:constants
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north
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south - direction
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light
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medium
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heavy - airplanetype
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seg_09Thresh_0_100
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seg_09Help_0_100
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seg_09_0_150
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seg_A_09_0_100
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seg_Rwy_0_1300
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seg_27Thresh_0_100
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seg_27Help_0_100
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seg_27_0_150
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seg_B_27_0_100
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seg_N1_N2_0_100
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seg_N1_A_0_100
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seg_N2_N3_1_0_86
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seg_N2_N3_0_85
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seg_N3_N_0_100
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seg_N_N4_0_100
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seg_N_C_0_100
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seg_N4_N5_1_0_85
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seg_N4_N5_0_86
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seg_N5_N6_0_100
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seg_N6_B_0_100
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seg_C_C2_0_100
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seg_C2_C3_0_100
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seg_C3_C4_0_50
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seg_C3_C_A01_0_100
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seg_C3_C_B01_0_100
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seg_C4_C5_0_50
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seg_C5_C6_0_50
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seg_C5_C_A02_0_100
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seg_C5_C_B02_0_100
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seg_C6_C7_0_100
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seg_A01_0_100
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seg_A02_0_100
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seg_B01_0_100
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seg_B02_0_100
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seg_N2_N3_2_0_86
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seg_N2_N3_3_0_86
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seg_N2_N3_4_0_85
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seg_N2_N3_5_0_86
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seg_N2_N3_6_0_86
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seg_N4_N5_2_0_86
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seg_N4_N5_3_0_86
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seg_N4_N5_4_0_85
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seg_N4_N5_5_0_86
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seg_N4_N5_6_0_86 - segment
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airplane_CFBEG
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airplane_DAEWH
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airplane_DFBOY
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airplane_WURST
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airplane_HOLGI
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airplane_4XEKD - airplane
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)
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(:predicates
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;; airport information
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(has-type ?a - airplane ?t - airplanetype)
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;; plane a has type t
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(at-segment ?a - airplane ?s - segment)
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;; planes are at segments, ie at their end in driving direction
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(facing ?a - airplane ?d - direction)
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;; planes face into their driving direction
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;; how the planes affect the airport
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(occupied ?s - segment)
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;; a plane is in here
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(not_occupied ?s - segment)
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(blocked ?s - segment ?a - airplane)
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;; segment s is blocked if it is endangered by plane p
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(not_blocked ?s - segment ?a - airplane)
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;; an airplane may lineup on segment s when facing d
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(is-start-runway ?s - segment ?d - direction)
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;; airplane a is starting from runway s
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(airborne ?a - airplane ?s - segment)
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(is-moving ?a - airplane)
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(is-pushing ?a - airplane)
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(is-parked ?a - airplane ?s - segment)
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)
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(:action move_seg_A01_0_100_seg_C3_C_A01_0_100_north_north_medium
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:parameters (?a - airplane)
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:precondition (and
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(has-type ?a medium)
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(is-moving ?a)
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(facing ?a north)
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(at-segment ?a seg_A01_0_100)
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(not_occupied seg_C3_C_A01_0_100)
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(not_blocked seg_C3_C_A01_0_100 airplane_CFBEG)
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(not_blocked seg_C3_C_A01_0_100 airplane_DAEWH)
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(not_blocked seg_C3_C_A01_0_100 airplane_DFBOY)
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(not_blocked seg_C3_C_A01_0_100 airplane_WURST)
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(not_blocked seg_C3_C_A01_0_100 airplane_HOLGI)
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(not_blocked seg_C3_C_A01_0_100 airplane_4XEKD)
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)
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:effect (and
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(not (occupied seg_A01_0_100))
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(not_occupied seg_A01_0_100)
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(not (at-segment ?a seg_A01_0_100))
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(occupied seg_C3_C_A01_0_100)
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(not (not_occupied seg_C3_C_A01_0_100))
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(blocked seg_C3_C_A01_0_100 ?a)
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(not (not_blocked seg_C3_C_A01_0_100 ?a))
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(at-segment ?a seg_C3_C_A01_0_100)
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)
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)
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(:action move_seg_C3_C_A01_0_100_seg_C3_C4_0_50_north_south_medium
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:parameters (?a - airplane)
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:precondition (and
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(has-type ?a medium)
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(is-moving ?a)
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(facing ?a north)
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(at-segment ?a seg_C3_C_A01_0_100)
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(not_occupied seg_C3_C4_0_50)
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(not_blocked seg_C3_C4_0_50 airplane_CFBEG)
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(not_blocked seg_C3_C4_0_50 airplane_DAEWH)
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(not_blocked seg_C3_C4_0_50 airplane_DFBOY)
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(not_blocked seg_C3_C4_0_50 airplane_WURST)
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(not_blocked seg_C3_C4_0_50 airplane_HOLGI)
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(not_blocked seg_C3_C4_0_50 airplane_4XEKD)
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(not_occupied seg_C2_C3_0_100)
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(not_occupied seg_C3_C_B01_0_100)
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)
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:effect (and
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(not (occupied seg_C3_C_A01_0_100))
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(not_occupied seg_C3_C_A01_0_100)
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(not (at-segment ?a seg_C3_C_A01_0_100))
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(occupied seg_C3_C4_0_50)
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(not (not_occupied seg_C3_C4_0_50))
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(blocked seg_C3_C4_0_50 ?a)
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(not (not_blocked seg_C3_C4_0_50 ?a))
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(at-segment ?a seg_C3_C4_0_50)
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(not (facing ?a north))
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(facing ?a south)
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(not (blocked seg_A01_0_100 ?a))
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(not_blocked seg_A01_0_100 ?a)
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(blocked seg_C2_C3_0_100 ?a)
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(not (not_blocked seg_C2_C3_0_100 ?a))
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(blocked seg_C3_C_B01_0_100 ?a)
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(not (not_blocked seg_C3_C_B01_0_100 ?a))
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)
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)
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(:action move_seg_C3_C4_0_50_seg_C4_C5_0_50_south_south_medium
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:parameters (?a - airplane)
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:precondition (and
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(has-type ?a medium)
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(is-moving ?a)
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(facing ?a south)
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(at-segment ?a seg_C3_C4_0_50)
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(not_occupied seg_C4_C5_0_50)
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(not_blocked seg_C4_C5_0_50 airplane_CFBEG)
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(not_blocked seg_C4_C5_0_50 airplane_DAEWH)
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(not_blocked seg_C4_C5_0_50 airplane_DFBOY)
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(not_blocked seg_C4_C5_0_50 airplane_WURST)
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(not_blocked seg_C4_C5_0_50 airplane_HOLGI)
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(not_blocked seg_C4_C5_0_50 airplane_4XEKD)
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)
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:effect (and
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(not (occupied seg_C3_C4_0_50))
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(not_occupied seg_C3_C4_0_50)
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(not (at-segment ?a seg_C3_C4_0_50))
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(occupied seg_C4_C5_0_50)
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(not (not_occupied seg_C4_C5_0_50))
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(blocked seg_C4_C5_0_50 ?a)
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(not (not_blocked seg_C4_C5_0_50 ?a))
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(at-segment ?a seg_C4_C5_0_50)
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(not (blocked seg_C2_C3_0_100 ?a))
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(not_blocked seg_C2_C3_0_100 ?a)
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(not (blocked seg_C3_C_A01_0_100 ?a))
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(not_blocked seg_C3_C_A01_0_100 ?a)
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(not (blocked seg_C3_C_B01_0_100 ?a))
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(not_blocked seg_C3_C_B01_0_100 ?a)
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)
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)
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(:action move_seg_C4_C5_0_50_seg_C3_C4_0_50_north_north_medium
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:parameters (?a - airplane)
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:precondition (and
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(has-type ?a medium)
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(is-moving ?a)
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(facing ?a north)
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(at-segment ?a seg_C4_C5_0_50)
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(not_occupied seg_C3_C4_0_50)
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(not_blocked seg_C3_C4_0_50 airplane_CFBEG)
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(not_blocked seg_C3_C4_0_50 airplane_DAEWH)
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(not_blocked seg_C3_C4_0_50 airplane_DFBOY)
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(not_blocked seg_C3_C4_0_50 airplane_WURST)
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(not_blocked seg_C3_C4_0_50 airplane_HOLGI)
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(not_blocked seg_C3_C4_0_50 airplane_4XEKD)
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)
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:effect (and
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(not (occupied seg_C4_C5_0_50))
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(not_occupied seg_C4_C5_0_50)
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(not (at-segment ?a seg_C4_C5_0_50))
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(occupied seg_C3_C4_0_50)
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(not (not_occupied seg_C3_C4_0_50))
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(blocked seg_C3_C4_0_50 ?a)
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(not (not_blocked seg_C3_C4_0_50 ?a))
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(at-segment ?a seg_C3_C4_0_50)
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(not (blocked seg_C5_C6_0_50 ?a))
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(not_blocked seg_C5_C6_0_50 ?a)
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(not (blocked seg_C5_C_A02_0_100 ?a))
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(not_blocked seg_C5_C_A02_0_100 ?a)
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(not (blocked seg_C5_C_B02_0_100 ?a))
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(not_blocked seg_C5_C_B02_0_100 ?a)
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)
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)
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(:action move_seg_C3_C4_0_50_seg_C2_C3_0_100_north_north_medium
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:parameters (?a - airplane)
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:precondition (and
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(has-type ?a medium)
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(is-moving ?a)
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(facing ?a north)
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(at-segment ?a seg_C3_C4_0_50)
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(not_occupied seg_C2_C3_0_100)
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(not_blocked seg_C2_C3_0_100 airplane_CFBEG)
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(not_blocked seg_C2_C3_0_100 airplane_DAEWH)
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(not_blocked seg_C2_C3_0_100 airplane_DFBOY)
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(not_blocked seg_C2_C3_0_100 airplane_WURST)
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(not_blocked seg_C2_C3_0_100 airplane_HOLGI)
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(not_blocked seg_C2_C3_0_100 airplane_4XEKD)
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(not_occupied seg_C3_C_A01_0_100)
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(not_occupied seg_C3_C_B01_0_100)
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)
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:effect (and
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(not (occupied seg_C3_C4_0_50))
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(not_occupied seg_C3_C4_0_50)
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(not (at-segment ?a seg_C3_C4_0_50))
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(occupied seg_C2_C3_0_100)
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(not (not_occupied seg_C2_C3_0_100))
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(blocked seg_C2_C3_0_100 ?a)
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(not (not_blocked seg_C2_C3_0_100 ?a))
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(at-segment ?a seg_C2_C3_0_100)
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(not (blocked seg_C4_C5_0_50 ?a))
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(not_blocked seg_C4_C5_0_50 ?a)
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(blocked seg_C3_C_A01_0_100 ?a)
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(not (not_blocked seg_C3_C_A01_0_100 ?a))
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(blocked seg_C3_C_B01_0_100 ?a)
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(not (not_blocked seg_C3_C_B01_0_100 ?a))
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)
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)
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(:action move_seg_C2_C3_0_100_seg_C_C2_0_100_north_north_medium
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:parameters (?a - airplane)
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:precondition (and
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(has-type ?a medium)
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(is-moving ?a)
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(facing ?a north)
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(at-segment ?a seg_C2_C3_0_100)
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(not_occupied seg_C_C2_0_100)
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(not_blocked seg_C_C2_0_100 airplane_CFBEG)
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(not_blocked seg_C_C2_0_100 airplane_DAEWH)
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(not_blocked seg_C_C2_0_100 airplane_DFBOY)
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(not_blocked seg_C_C2_0_100 airplane_WURST)
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(not_blocked seg_C_C2_0_100 airplane_HOLGI)
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(not_blocked seg_C_C2_0_100 airplane_4XEKD)
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)
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:effect (and
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(not (occupied seg_C2_C3_0_100))
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(not_occupied seg_C2_C3_0_100)
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(not (at-segment ?a seg_C2_C3_0_100))
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(occupied seg_C_C2_0_100)
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(not (not_occupied seg_C_C2_0_100))
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(blocked seg_C_C2_0_100 ?a)
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(not (not_blocked seg_C_C2_0_100 ?a))
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(at-segment ?a seg_C_C2_0_100)
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(not (blocked seg_C3_C4_0_50 ?a))
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(not_blocked seg_C3_C4_0_50 ?a)
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(not (blocked seg_C3_C_A01_0_100 ?a))
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(not_blocked seg_C3_C_A01_0_100 ?a)
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(not (blocked seg_C3_C_B01_0_100 ?a))
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(not_blocked seg_C3_C_B01_0_100 ?a)
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)
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)
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(:action move_seg_C_C2_0_100_seg_N_C_0_100_north_north_medium
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:parameters (?a - airplane)
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:precondition (and
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(has-type ?a medium)
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(is-moving ?a)
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(facing ?a north)
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(at-segment ?a seg_C_C2_0_100)
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(not_occupied seg_N_C_0_100)
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(not_blocked seg_N_C_0_100 airplane_CFBEG)
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(not_blocked seg_N_C_0_100 airplane_DAEWH)
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(not_blocked seg_N_C_0_100 airplane_DFBOY)
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(not_blocked seg_N_C_0_100 airplane_WURST)
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(not_blocked seg_N_C_0_100 airplane_HOLGI)
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(not_blocked seg_N_C_0_100 airplane_4XEKD)
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)
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:effect (and
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(not (occupied seg_C_C2_0_100))
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(not_occupied seg_C_C2_0_100)
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(not (at-segment ?a seg_C_C2_0_100))
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(occupied seg_N_C_0_100)
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(not (not_occupied seg_N_C_0_100))
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(blocked seg_N_C_0_100 ?a)
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(not (not_blocked seg_N_C_0_100 ?a))
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(at-segment ?a seg_N_C_0_100)
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(not (blocked seg_C2_C3_0_100 ?a))
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(not_blocked seg_C2_C3_0_100 ?a)
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)
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)
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(:action move_seg_N_C_0_100_seg_N3_N_0_100_north_north_medium
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:parameters (?a - airplane)
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:precondition (and
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(has-type ?a medium)
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(is-moving ?a)
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(facing ?a north)
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(at-segment ?a seg_N_C_0_100)
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(not_occupied seg_N3_N_0_100)
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(not_blocked seg_N3_N_0_100 airplane_CFBEG)
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(not_blocked seg_N3_N_0_100 airplane_DAEWH)
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(not_blocked seg_N3_N_0_100 airplane_DFBOY)
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(not_blocked seg_N3_N_0_100 airplane_WURST)
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(not_blocked seg_N3_N_0_100 airplane_HOLGI)
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(not_blocked seg_N3_N_0_100 airplane_4XEKD)
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(not_occupied seg_N_N4_0_100)
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)
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:effect (and
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(not (occupied seg_N_C_0_100))
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(not_occupied seg_N_C_0_100)
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(not (at-segment ?a seg_N_C_0_100))
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(occupied seg_N3_N_0_100)
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(not (not_occupied seg_N3_N_0_100))
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(blocked seg_N3_N_0_100 ?a)
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(not (not_blocked seg_N3_N_0_100 ?a))
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(at-segment ?a seg_N3_N_0_100)
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(not (blocked seg_C_C2_0_100 ?a))
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(not_blocked seg_C_C2_0_100 ?a)
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(blocked seg_N_N4_0_100 ?a)
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(not (not_blocked seg_N_N4_0_100 ?a))
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)
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)
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(:action move_seg_N3_N_0_100_seg_N2_N3_0_85_north_north_medium
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:parameters (?a - airplane)
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:precondition (and
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(has-type ?a medium)
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(is-moving ?a)
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(facing ?a north)
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(at-segment ?a seg_N3_N_0_100)
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(not_occupied seg_N2_N3_0_85)
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(not_blocked seg_N2_N3_0_85 airplane_CFBEG)
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(not_blocked seg_N2_N3_0_85 airplane_DAEWH)
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(not_blocked seg_N2_N3_0_85 airplane_DFBOY)
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|
(not_blocked seg_N2_N3_0_85 airplane_WURST)
|
|
(not_blocked seg_N2_N3_0_85 airplane_HOLGI)
|
|
(not_blocked seg_N2_N3_0_85 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N3_N_0_100))
|
|
(not_occupied seg_N3_N_0_100)
|
|
(not (at-segment ?a seg_N3_N_0_100))
|
|
|
|
(occupied seg_N2_N3_0_85)
|
|
(not (not_occupied seg_N2_N3_0_85))
|
|
(blocked seg_N2_N3_0_85 ?a)
|
|
(not (not_blocked seg_N2_N3_0_85 ?a))
|
|
(at-segment ?a seg_N2_N3_0_85)
|
|
|
|
(not (blocked seg_N_N4_0_100 ?a))
|
|
(not_blocked seg_N_N4_0_100 ?a)
|
|
(not (blocked seg_N_C_0_100 ?a))
|
|
(not_blocked seg_N_C_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N2_N3_0_85_seg_N2_N3_6_0_86_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N2_N3_0_85)
|
|
(not_occupied seg_N2_N3_6_0_86)
|
|
(not_blocked seg_N2_N3_6_0_86 airplane_CFBEG)
|
|
(not_blocked seg_N2_N3_6_0_86 airplane_DAEWH)
|
|
(not_blocked seg_N2_N3_6_0_86 airplane_DFBOY)
|
|
(not_blocked seg_N2_N3_6_0_86 airplane_WURST)
|
|
(not_blocked seg_N2_N3_6_0_86 airplane_HOLGI)
|
|
(not_blocked seg_N2_N3_6_0_86 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N2_N3_0_85))
|
|
(not_occupied seg_N2_N3_0_85)
|
|
(not (at-segment ?a seg_N2_N3_0_85))
|
|
|
|
(occupied seg_N2_N3_6_0_86)
|
|
(not (not_occupied seg_N2_N3_6_0_86))
|
|
(blocked seg_N2_N3_6_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_6_0_86 ?a))
|
|
(at-segment ?a seg_N2_N3_6_0_86)
|
|
|
|
(not (blocked seg_N3_N_0_100 ?a))
|
|
(not_blocked seg_N3_N_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N2_N3_6_0_86_seg_N2_N3_5_0_86_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N2_N3_6_0_86)
|
|
(not_occupied seg_N2_N3_5_0_86)
|
|
(not_blocked seg_N2_N3_5_0_86 airplane_CFBEG)
|
|
(not_blocked seg_N2_N3_5_0_86 airplane_DAEWH)
|
|
(not_blocked seg_N2_N3_5_0_86 airplane_DFBOY)
|
|
(not_blocked seg_N2_N3_5_0_86 airplane_WURST)
|
|
(not_blocked seg_N2_N3_5_0_86 airplane_HOLGI)
|
|
(not_blocked seg_N2_N3_5_0_86 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N2_N3_6_0_86))
|
|
(not_occupied seg_N2_N3_6_0_86)
|
|
(not (at-segment ?a seg_N2_N3_6_0_86))
|
|
|
|
(occupied seg_N2_N3_5_0_86)
|
|
(not (not_occupied seg_N2_N3_5_0_86))
|
|
(blocked seg_N2_N3_5_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_5_0_86 ?a))
|
|
(at-segment ?a seg_N2_N3_5_0_86)
|
|
|
|
(not (blocked seg_N2_N3_0_85 ?a))
|
|
(not_blocked seg_N2_N3_0_85 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N2_N3_5_0_86_seg_N2_N3_4_0_85_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N2_N3_5_0_86)
|
|
(not_occupied seg_N2_N3_4_0_85)
|
|
(not_blocked seg_N2_N3_4_0_85 airplane_CFBEG)
|
|
(not_blocked seg_N2_N3_4_0_85 airplane_DAEWH)
|
|
(not_blocked seg_N2_N3_4_0_85 airplane_DFBOY)
|
|
(not_blocked seg_N2_N3_4_0_85 airplane_WURST)
|
|
(not_blocked seg_N2_N3_4_0_85 airplane_HOLGI)
|
|
(not_blocked seg_N2_N3_4_0_85 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N2_N3_5_0_86))
|
|
(not_occupied seg_N2_N3_5_0_86)
|
|
(not (at-segment ?a seg_N2_N3_5_0_86))
|
|
|
|
(occupied seg_N2_N3_4_0_85)
|
|
(not (not_occupied seg_N2_N3_4_0_85))
|
|
(blocked seg_N2_N3_4_0_85 ?a)
|
|
(not (not_blocked seg_N2_N3_4_0_85 ?a))
|
|
(at-segment ?a seg_N2_N3_4_0_85)
|
|
|
|
(not (blocked seg_N2_N3_6_0_86 ?a))
|
|
(not_blocked seg_N2_N3_6_0_86 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N2_N3_4_0_85_seg_N2_N3_3_0_86_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N2_N3_4_0_85)
|
|
(not_occupied seg_N2_N3_3_0_86)
|
|
(not_blocked seg_N2_N3_3_0_86 airplane_CFBEG)
|
|
(not_blocked seg_N2_N3_3_0_86 airplane_DAEWH)
|
|
(not_blocked seg_N2_N3_3_0_86 airplane_DFBOY)
|
|
(not_blocked seg_N2_N3_3_0_86 airplane_WURST)
|
|
(not_blocked seg_N2_N3_3_0_86 airplane_HOLGI)
|
|
(not_blocked seg_N2_N3_3_0_86 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N2_N3_4_0_85))
|
|
(not_occupied seg_N2_N3_4_0_85)
|
|
(not (at-segment ?a seg_N2_N3_4_0_85))
|
|
|
|
(occupied seg_N2_N3_3_0_86)
|
|
(not (not_occupied seg_N2_N3_3_0_86))
|
|
(blocked seg_N2_N3_3_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_3_0_86 ?a))
|
|
(at-segment ?a seg_N2_N3_3_0_86)
|
|
|
|
(not (blocked seg_N2_N3_5_0_86 ?a))
|
|
(not_blocked seg_N2_N3_5_0_86 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N2_N3_3_0_86_seg_N2_N3_2_0_86_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N2_N3_3_0_86)
|
|
(not_occupied seg_N2_N3_2_0_86)
|
|
(not_blocked seg_N2_N3_2_0_86 airplane_CFBEG)
|
|
(not_blocked seg_N2_N3_2_0_86 airplane_DAEWH)
|
|
(not_blocked seg_N2_N3_2_0_86 airplane_DFBOY)
|
|
(not_blocked seg_N2_N3_2_0_86 airplane_WURST)
|
|
(not_blocked seg_N2_N3_2_0_86 airplane_HOLGI)
|
|
(not_blocked seg_N2_N3_2_0_86 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N2_N3_3_0_86))
|
|
(not_occupied seg_N2_N3_3_0_86)
|
|
(not (at-segment ?a seg_N2_N3_3_0_86))
|
|
|
|
(occupied seg_N2_N3_2_0_86)
|
|
(not (not_occupied seg_N2_N3_2_0_86))
|
|
(blocked seg_N2_N3_2_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_2_0_86 ?a))
|
|
(at-segment ?a seg_N2_N3_2_0_86)
|
|
|
|
(not (blocked seg_N2_N3_4_0_85 ?a))
|
|
(not_blocked seg_N2_N3_4_0_85 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N2_N3_2_0_86_seg_N2_N3_1_0_86_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N2_N3_2_0_86)
|
|
(not_occupied seg_N2_N3_1_0_86)
|
|
(not_blocked seg_N2_N3_1_0_86 airplane_CFBEG)
|
|
(not_blocked seg_N2_N3_1_0_86 airplane_DAEWH)
|
|
(not_blocked seg_N2_N3_1_0_86 airplane_DFBOY)
|
|
(not_blocked seg_N2_N3_1_0_86 airplane_WURST)
|
|
(not_blocked seg_N2_N3_1_0_86 airplane_HOLGI)
|
|
(not_blocked seg_N2_N3_1_0_86 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N2_N3_2_0_86))
|
|
(not_occupied seg_N2_N3_2_0_86)
|
|
(not (at-segment ?a seg_N2_N3_2_0_86))
|
|
|
|
(occupied seg_N2_N3_1_0_86)
|
|
(not (not_occupied seg_N2_N3_1_0_86))
|
|
(blocked seg_N2_N3_1_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_1_0_86 ?a))
|
|
(at-segment ?a seg_N2_N3_1_0_86)
|
|
|
|
(not (blocked seg_N2_N3_3_0_86 ?a))
|
|
(not_blocked seg_N2_N3_3_0_86 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N2_N3_1_0_86_seg_N1_N2_0_100_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N2_N3_1_0_86)
|
|
(not_occupied seg_N1_N2_0_100)
|
|
(not_blocked seg_N1_N2_0_100 airplane_CFBEG)
|
|
(not_blocked seg_N1_N2_0_100 airplane_DAEWH)
|
|
(not_blocked seg_N1_N2_0_100 airplane_DFBOY)
|
|
(not_blocked seg_N1_N2_0_100 airplane_WURST)
|
|
(not_blocked seg_N1_N2_0_100 airplane_HOLGI)
|
|
(not_blocked seg_N1_N2_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N2_N3_1_0_86))
|
|
(not_occupied seg_N2_N3_1_0_86)
|
|
(not (at-segment ?a seg_N2_N3_1_0_86))
|
|
|
|
(occupied seg_N1_N2_0_100)
|
|
(not (not_occupied seg_N1_N2_0_100))
|
|
(blocked seg_N1_N2_0_100 ?a)
|
|
(not (not_blocked seg_N1_N2_0_100 ?a))
|
|
(at-segment ?a seg_N1_N2_0_100)
|
|
|
|
(not (blocked seg_N2_N3_2_0_86 ?a))
|
|
(not_blocked seg_N2_N3_2_0_86 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N1_N2_0_100_seg_N1_A_0_100_north_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N1_N2_0_100)
|
|
(not_occupied seg_N1_A_0_100)
|
|
(not_blocked seg_N1_A_0_100 airplane_CFBEG)
|
|
(not_blocked seg_N1_A_0_100 airplane_DAEWH)
|
|
(not_blocked seg_N1_A_0_100 airplane_DFBOY)
|
|
(not_blocked seg_N1_A_0_100 airplane_WURST)
|
|
(not_blocked seg_N1_A_0_100 airplane_HOLGI)
|
|
(not_blocked seg_N1_A_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N1_N2_0_100))
|
|
(not_occupied seg_N1_N2_0_100)
|
|
(not (at-segment ?a seg_N1_N2_0_100))
|
|
|
|
(occupied seg_N1_A_0_100)
|
|
(not (not_occupied seg_N1_A_0_100))
|
|
(blocked seg_N1_A_0_100 ?a)
|
|
(not (not_blocked seg_N1_A_0_100 ?a))
|
|
(at-segment ?a seg_N1_A_0_100)
|
|
(not (facing ?a north))
|
|
(facing ?a south)
|
|
|
|
(not (blocked seg_N2_N3_1_0_86 ?a))
|
|
(not_blocked seg_N2_N3_1_0_86 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N1_A_0_100_seg_A_09_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_N1_A_0_100)
|
|
(not_occupied seg_A_09_0_100)
|
|
(not_blocked seg_A_09_0_100 airplane_CFBEG)
|
|
(not_blocked seg_A_09_0_100 airplane_DAEWH)
|
|
(not_blocked seg_A_09_0_100 airplane_DFBOY)
|
|
(not_blocked seg_A_09_0_100 airplane_WURST)
|
|
(not_blocked seg_A_09_0_100 airplane_HOLGI)
|
|
(not_blocked seg_A_09_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N1_A_0_100))
|
|
(not_occupied seg_N1_A_0_100)
|
|
(not (at-segment ?a seg_N1_A_0_100))
|
|
|
|
(occupied seg_A_09_0_100)
|
|
(not (not_occupied seg_A_09_0_100))
|
|
(blocked seg_A_09_0_100 ?a)
|
|
(not (not_blocked seg_A_09_0_100 ?a))
|
|
(at-segment ?a seg_A_09_0_100)
|
|
|
|
(not (blocked seg_N1_N2_0_100 ?a))
|
|
(not_blocked seg_N1_N2_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_A_09_0_100_seg_09_0_150_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_A_09_0_100)
|
|
(not_occupied seg_09_0_150)
|
|
(not_blocked seg_09_0_150 airplane_CFBEG)
|
|
(not_blocked seg_09_0_150 airplane_DAEWH)
|
|
(not_blocked seg_09_0_150 airplane_DFBOY)
|
|
(not_blocked seg_09_0_150 airplane_WURST)
|
|
(not_blocked seg_09_0_150 airplane_HOLGI)
|
|
(not_blocked seg_09_0_150 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_A_09_0_100))
|
|
(not_occupied seg_A_09_0_100)
|
|
(not (at-segment ?a seg_A_09_0_100))
|
|
|
|
(occupied seg_09_0_150)
|
|
(not (not_occupied seg_09_0_150))
|
|
(blocked seg_09_0_150 ?a)
|
|
(not (not_blocked seg_09_0_150 ?a))
|
|
(at-segment ?a seg_09_0_150)
|
|
|
|
(not (blocked seg_N1_A_0_100 ?a))
|
|
(not_blocked seg_N1_A_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_09_0_150_seg_Rwy_0_1300_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_09_0_150)
|
|
(not_occupied seg_Rwy_0_1300)
|
|
(not_blocked seg_Rwy_0_1300 airplane_CFBEG)
|
|
(not_blocked seg_Rwy_0_1300 airplane_DAEWH)
|
|
(not_blocked seg_Rwy_0_1300 airplane_DFBOY)
|
|
(not_blocked seg_Rwy_0_1300 airplane_WURST)
|
|
(not_blocked seg_Rwy_0_1300 airplane_HOLGI)
|
|
(not_blocked seg_Rwy_0_1300 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_09_0_150))
|
|
(not_occupied seg_09_0_150)
|
|
(not (at-segment ?a seg_09_0_150))
|
|
|
|
(occupied seg_Rwy_0_1300)
|
|
(not (not_occupied seg_Rwy_0_1300))
|
|
(blocked seg_Rwy_0_1300 ?a)
|
|
(not (not_blocked seg_Rwy_0_1300 ?a))
|
|
(at-segment ?a seg_Rwy_0_1300)
|
|
|
|
(not (blocked seg_A_09_0_100 ?a))
|
|
(not_blocked seg_A_09_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_Rwy_0_1300_seg_27_0_150_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_Rwy_0_1300)
|
|
(not_occupied seg_27_0_150)
|
|
(not_blocked seg_27_0_150 airplane_CFBEG)
|
|
(not_blocked seg_27_0_150 airplane_DAEWH)
|
|
(not_blocked seg_27_0_150 airplane_DFBOY)
|
|
(not_blocked seg_27_0_150 airplane_WURST)
|
|
(not_blocked seg_27_0_150 airplane_HOLGI)
|
|
(not_blocked seg_27_0_150 airplane_4XEKD)
|
|
|
|
(not_occupied seg_09_0_150)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_Rwy_0_1300))
|
|
(not_occupied seg_Rwy_0_1300)
|
|
(not (at-segment ?a seg_Rwy_0_1300))
|
|
|
|
(occupied seg_27_0_150)
|
|
(not (not_occupied seg_27_0_150))
|
|
(blocked seg_27_0_150 ?a)
|
|
(not (not_blocked seg_27_0_150 ?a))
|
|
(at-segment ?a seg_27_0_150)
|
|
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_27_0_150_seg_B_27_0_100_south_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_27_0_150)
|
|
(not_occupied seg_B_27_0_100)
|
|
(not_blocked seg_B_27_0_100 airplane_CFBEG)
|
|
(not_blocked seg_B_27_0_100 airplane_DAEWH)
|
|
(not_blocked seg_B_27_0_100 airplane_DFBOY)
|
|
(not_blocked seg_B_27_0_100 airplane_WURST)
|
|
(not_blocked seg_B_27_0_100 airplane_HOLGI)
|
|
(not_blocked seg_B_27_0_100 airplane_4XEKD)
|
|
|
|
(not_occupied seg_27Help_0_100)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_27_0_150))
|
|
(not_occupied seg_27_0_150)
|
|
(not (at-segment ?a seg_27_0_150))
|
|
|
|
(occupied seg_B_27_0_100)
|
|
(not (not_occupied seg_B_27_0_100))
|
|
(blocked seg_B_27_0_100 ?a)
|
|
(not (not_blocked seg_B_27_0_100 ?a))
|
|
(at-segment ?a seg_B_27_0_100)
|
|
(not (facing ?a south))
|
|
(facing ?a north)
|
|
|
|
(not (blocked seg_09_0_150 ?a))
|
|
(not_blocked seg_09_0_150 ?a)
|
|
(not (blocked seg_Rwy_0_1300 ?a))
|
|
(not_blocked seg_Rwy_0_1300 ?a)
|
|
|
|
(blocked seg_27Help_0_100 ?a)
|
|
(not (not_blocked seg_27Help_0_100 ?a))
|
|
)
|
|
)
|
|
|
|
(:action move_seg_B_27_0_100_seg_N6_B_0_100_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_B_27_0_100)
|
|
(not_occupied seg_N6_B_0_100)
|
|
(not_blocked seg_N6_B_0_100 airplane_CFBEG)
|
|
(not_blocked seg_N6_B_0_100 airplane_DAEWH)
|
|
(not_blocked seg_N6_B_0_100 airplane_DFBOY)
|
|
(not_blocked seg_N6_B_0_100 airplane_WURST)
|
|
(not_blocked seg_N6_B_0_100 airplane_HOLGI)
|
|
(not_blocked seg_N6_B_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_B_27_0_100))
|
|
(not_occupied seg_B_27_0_100)
|
|
(not (at-segment ?a seg_B_27_0_100))
|
|
|
|
(occupied seg_N6_B_0_100)
|
|
(not (not_occupied seg_N6_B_0_100))
|
|
(blocked seg_N6_B_0_100 ?a)
|
|
(not (not_blocked seg_N6_B_0_100 ?a))
|
|
(at-segment ?a seg_N6_B_0_100)
|
|
|
|
(not (blocked seg_27_0_150 ?a))
|
|
(not_blocked seg_27_0_150 ?a)
|
|
(not (blocked seg_27Help_0_100 ?a))
|
|
(not_blocked seg_27Help_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N6_B_0_100_seg_N5_N6_0_100_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N6_B_0_100)
|
|
(not_occupied seg_N5_N6_0_100)
|
|
(not_blocked seg_N5_N6_0_100 airplane_CFBEG)
|
|
(not_blocked seg_N5_N6_0_100 airplane_DAEWH)
|
|
(not_blocked seg_N5_N6_0_100 airplane_DFBOY)
|
|
(not_blocked seg_N5_N6_0_100 airplane_WURST)
|
|
(not_blocked seg_N5_N6_0_100 airplane_HOLGI)
|
|
(not_blocked seg_N5_N6_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N6_B_0_100))
|
|
(not_occupied seg_N6_B_0_100)
|
|
(not (at-segment ?a seg_N6_B_0_100))
|
|
|
|
(occupied seg_N5_N6_0_100)
|
|
(not (not_occupied seg_N5_N6_0_100))
|
|
(blocked seg_N5_N6_0_100 ?a)
|
|
(not (not_blocked seg_N5_N6_0_100 ?a))
|
|
(at-segment ?a seg_N5_N6_0_100)
|
|
|
|
(not (blocked seg_B_27_0_100 ?a))
|
|
(not_blocked seg_B_27_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N5_N6_0_100_seg_N4_N5_0_86_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N5_N6_0_100)
|
|
(not_occupied seg_N4_N5_0_86)
|
|
(not_blocked seg_N4_N5_0_86 airplane_CFBEG)
|
|
(not_blocked seg_N4_N5_0_86 airplane_DAEWH)
|
|
(not_blocked seg_N4_N5_0_86 airplane_DFBOY)
|
|
(not_blocked seg_N4_N5_0_86 airplane_WURST)
|
|
(not_blocked seg_N4_N5_0_86 airplane_HOLGI)
|
|
(not_blocked seg_N4_N5_0_86 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N5_N6_0_100))
|
|
(not_occupied seg_N5_N6_0_100)
|
|
(not (at-segment ?a seg_N5_N6_0_100))
|
|
|
|
(occupied seg_N4_N5_0_86)
|
|
(not (not_occupied seg_N4_N5_0_86))
|
|
(blocked seg_N4_N5_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_0_86 ?a))
|
|
(at-segment ?a seg_N4_N5_0_86)
|
|
|
|
(not (blocked seg_N6_B_0_100 ?a))
|
|
(not_blocked seg_N6_B_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N4_N5_0_86_seg_N4_N5_6_0_86_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N4_N5_0_86)
|
|
(not_occupied seg_N4_N5_6_0_86)
|
|
(not_blocked seg_N4_N5_6_0_86 airplane_CFBEG)
|
|
(not_blocked seg_N4_N5_6_0_86 airplane_DAEWH)
|
|
(not_blocked seg_N4_N5_6_0_86 airplane_DFBOY)
|
|
(not_blocked seg_N4_N5_6_0_86 airplane_WURST)
|
|
(not_blocked seg_N4_N5_6_0_86 airplane_HOLGI)
|
|
(not_blocked seg_N4_N5_6_0_86 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N4_N5_0_86))
|
|
(not_occupied seg_N4_N5_0_86)
|
|
(not (at-segment ?a seg_N4_N5_0_86))
|
|
|
|
(occupied seg_N4_N5_6_0_86)
|
|
(not (not_occupied seg_N4_N5_6_0_86))
|
|
(blocked seg_N4_N5_6_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_6_0_86 ?a))
|
|
(at-segment ?a seg_N4_N5_6_0_86)
|
|
|
|
(not (blocked seg_N5_N6_0_100 ?a))
|
|
(not_blocked seg_N5_N6_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N4_N5_6_0_86_seg_N4_N5_5_0_86_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N4_N5_6_0_86)
|
|
(not_occupied seg_N4_N5_5_0_86)
|
|
(not_blocked seg_N4_N5_5_0_86 airplane_CFBEG)
|
|
(not_blocked seg_N4_N5_5_0_86 airplane_DAEWH)
|
|
(not_blocked seg_N4_N5_5_0_86 airplane_DFBOY)
|
|
(not_blocked seg_N4_N5_5_0_86 airplane_WURST)
|
|
(not_blocked seg_N4_N5_5_0_86 airplane_HOLGI)
|
|
(not_blocked seg_N4_N5_5_0_86 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N4_N5_6_0_86))
|
|
(not_occupied seg_N4_N5_6_0_86)
|
|
(not (at-segment ?a seg_N4_N5_6_0_86))
|
|
|
|
(occupied seg_N4_N5_5_0_86)
|
|
(not (not_occupied seg_N4_N5_5_0_86))
|
|
(blocked seg_N4_N5_5_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_5_0_86 ?a))
|
|
(at-segment ?a seg_N4_N5_5_0_86)
|
|
|
|
(not (blocked seg_N4_N5_0_86 ?a))
|
|
(not_blocked seg_N4_N5_0_86 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N4_N5_5_0_86_seg_N4_N5_4_0_85_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N4_N5_5_0_86)
|
|
(not_occupied seg_N4_N5_4_0_85)
|
|
(not_blocked seg_N4_N5_4_0_85 airplane_CFBEG)
|
|
(not_blocked seg_N4_N5_4_0_85 airplane_DAEWH)
|
|
(not_blocked seg_N4_N5_4_0_85 airplane_DFBOY)
|
|
(not_blocked seg_N4_N5_4_0_85 airplane_WURST)
|
|
(not_blocked seg_N4_N5_4_0_85 airplane_HOLGI)
|
|
(not_blocked seg_N4_N5_4_0_85 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N4_N5_5_0_86))
|
|
(not_occupied seg_N4_N5_5_0_86)
|
|
(not (at-segment ?a seg_N4_N5_5_0_86))
|
|
|
|
(occupied seg_N4_N5_4_0_85)
|
|
(not (not_occupied seg_N4_N5_4_0_85))
|
|
(blocked seg_N4_N5_4_0_85 ?a)
|
|
(not (not_blocked seg_N4_N5_4_0_85 ?a))
|
|
(at-segment ?a seg_N4_N5_4_0_85)
|
|
|
|
(not (blocked seg_N4_N5_6_0_86 ?a))
|
|
(not_blocked seg_N4_N5_6_0_86 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N4_N5_4_0_85_seg_N4_N5_3_0_86_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N4_N5_4_0_85)
|
|
(not_occupied seg_N4_N5_3_0_86)
|
|
(not_blocked seg_N4_N5_3_0_86 airplane_CFBEG)
|
|
(not_blocked seg_N4_N5_3_0_86 airplane_DAEWH)
|
|
(not_blocked seg_N4_N5_3_0_86 airplane_DFBOY)
|
|
(not_blocked seg_N4_N5_3_0_86 airplane_WURST)
|
|
(not_blocked seg_N4_N5_3_0_86 airplane_HOLGI)
|
|
(not_blocked seg_N4_N5_3_0_86 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N4_N5_4_0_85))
|
|
(not_occupied seg_N4_N5_4_0_85)
|
|
(not (at-segment ?a seg_N4_N5_4_0_85))
|
|
|
|
(occupied seg_N4_N5_3_0_86)
|
|
(not (not_occupied seg_N4_N5_3_0_86))
|
|
(blocked seg_N4_N5_3_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_3_0_86 ?a))
|
|
(at-segment ?a seg_N4_N5_3_0_86)
|
|
|
|
(not (blocked seg_N4_N5_5_0_86 ?a))
|
|
(not_blocked seg_N4_N5_5_0_86 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N4_N5_3_0_86_seg_N4_N5_2_0_86_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N4_N5_3_0_86)
|
|
(not_occupied seg_N4_N5_2_0_86)
|
|
(not_blocked seg_N4_N5_2_0_86 airplane_CFBEG)
|
|
(not_blocked seg_N4_N5_2_0_86 airplane_DAEWH)
|
|
(not_blocked seg_N4_N5_2_0_86 airplane_DFBOY)
|
|
(not_blocked seg_N4_N5_2_0_86 airplane_WURST)
|
|
(not_blocked seg_N4_N5_2_0_86 airplane_HOLGI)
|
|
(not_blocked seg_N4_N5_2_0_86 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N4_N5_3_0_86))
|
|
(not_occupied seg_N4_N5_3_0_86)
|
|
(not (at-segment ?a seg_N4_N5_3_0_86))
|
|
|
|
(occupied seg_N4_N5_2_0_86)
|
|
(not (not_occupied seg_N4_N5_2_0_86))
|
|
(blocked seg_N4_N5_2_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_2_0_86 ?a))
|
|
(at-segment ?a seg_N4_N5_2_0_86)
|
|
|
|
(not (blocked seg_N4_N5_4_0_85 ?a))
|
|
(not_blocked seg_N4_N5_4_0_85 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N4_N5_2_0_86_seg_N4_N5_1_0_85_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N4_N5_2_0_86)
|
|
(not_occupied seg_N4_N5_1_0_85)
|
|
(not_blocked seg_N4_N5_1_0_85 airplane_CFBEG)
|
|
(not_blocked seg_N4_N5_1_0_85 airplane_DAEWH)
|
|
(not_blocked seg_N4_N5_1_0_85 airplane_DFBOY)
|
|
(not_blocked seg_N4_N5_1_0_85 airplane_WURST)
|
|
(not_blocked seg_N4_N5_1_0_85 airplane_HOLGI)
|
|
(not_blocked seg_N4_N5_1_0_85 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N4_N5_2_0_86))
|
|
(not_occupied seg_N4_N5_2_0_86)
|
|
(not (at-segment ?a seg_N4_N5_2_0_86))
|
|
|
|
(occupied seg_N4_N5_1_0_85)
|
|
(not (not_occupied seg_N4_N5_1_0_85))
|
|
(blocked seg_N4_N5_1_0_85 ?a)
|
|
(not (not_blocked seg_N4_N5_1_0_85 ?a))
|
|
(at-segment ?a seg_N4_N5_1_0_85)
|
|
|
|
(not (blocked seg_N4_N5_3_0_86 ?a))
|
|
(not_blocked seg_N4_N5_3_0_86 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N4_N5_1_0_85_seg_N_N4_0_100_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N4_N5_1_0_85)
|
|
(not_occupied seg_N_N4_0_100)
|
|
(not_blocked seg_N_N4_0_100 airplane_CFBEG)
|
|
(not_blocked seg_N_N4_0_100 airplane_DAEWH)
|
|
(not_blocked seg_N_N4_0_100 airplane_DFBOY)
|
|
(not_blocked seg_N_N4_0_100 airplane_WURST)
|
|
(not_blocked seg_N_N4_0_100 airplane_HOLGI)
|
|
(not_blocked seg_N_N4_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N4_N5_1_0_85))
|
|
(not_occupied seg_N4_N5_1_0_85)
|
|
(not (at-segment ?a seg_N4_N5_1_0_85))
|
|
|
|
(occupied seg_N_N4_0_100)
|
|
(not (not_occupied seg_N_N4_0_100))
|
|
(blocked seg_N_N4_0_100 ?a)
|
|
(not (not_blocked seg_N_N4_0_100 ?a))
|
|
(at-segment ?a seg_N_N4_0_100)
|
|
|
|
(not (blocked seg_N4_N5_2_0_86 ?a))
|
|
(not_blocked seg_N4_N5_2_0_86 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N_N4_0_100_seg_N_C_0_100_north_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_N_N4_0_100)
|
|
(not_occupied seg_N_C_0_100)
|
|
(not_blocked seg_N_C_0_100 airplane_CFBEG)
|
|
(not_blocked seg_N_C_0_100 airplane_DAEWH)
|
|
(not_blocked seg_N_C_0_100 airplane_DFBOY)
|
|
(not_blocked seg_N_C_0_100 airplane_WURST)
|
|
(not_blocked seg_N_C_0_100 airplane_HOLGI)
|
|
(not_blocked seg_N_C_0_100 airplane_4XEKD)
|
|
|
|
(not_occupied seg_N3_N_0_100)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N_N4_0_100))
|
|
(not_occupied seg_N_N4_0_100)
|
|
(not (at-segment ?a seg_N_N4_0_100))
|
|
|
|
(occupied seg_N_C_0_100)
|
|
(not (not_occupied seg_N_C_0_100))
|
|
(blocked seg_N_C_0_100 ?a)
|
|
(not (not_blocked seg_N_C_0_100 ?a))
|
|
(at-segment ?a seg_N_C_0_100)
|
|
(not (facing ?a north))
|
|
(facing ?a south)
|
|
|
|
(not (blocked seg_N4_N5_1_0_85 ?a))
|
|
(not_blocked seg_N4_N5_1_0_85 ?a)
|
|
|
|
(blocked seg_N3_N_0_100 ?a)
|
|
(not (not_blocked seg_N3_N_0_100 ?a))
|
|
)
|
|
)
|
|
|
|
(:action move_seg_N_C_0_100_seg_C_C2_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_N_C_0_100)
|
|
(not_occupied seg_C_C2_0_100)
|
|
(not_blocked seg_C_C2_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C_C2_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C_C2_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C_C2_0_100 airplane_WURST)
|
|
(not_blocked seg_C_C2_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C_C2_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_N_C_0_100))
|
|
(not_occupied seg_N_C_0_100)
|
|
(not (at-segment ?a seg_N_C_0_100))
|
|
|
|
(occupied seg_C_C2_0_100)
|
|
(not (not_occupied seg_C_C2_0_100))
|
|
(blocked seg_C_C2_0_100 ?a)
|
|
(not (not_blocked seg_C_C2_0_100 ?a))
|
|
(at-segment ?a seg_C_C2_0_100)
|
|
|
|
(not (blocked seg_N3_N_0_100 ?a))
|
|
(not_blocked seg_N3_N_0_100 ?a)
|
|
(not (blocked seg_N_N4_0_100 ?a))
|
|
(not_blocked seg_N_N4_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C_C2_0_100_seg_C2_C3_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C_C2_0_100)
|
|
(not_occupied seg_C2_C3_0_100)
|
|
(not_blocked seg_C2_C3_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C2_C3_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C2_C3_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C2_C3_0_100 airplane_WURST)
|
|
(not_blocked seg_C2_C3_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C2_C3_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C_C2_0_100))
|
|
(not_occupied seg_C_C2_0_100)
|
|
(not (at-segment ?a seg_C_C2_0_100))
|
|
|
|
(occupied seg_C2_C3_0_100)
|
|
(not (not_occupied seg_C2_C3_0_100))
|
|
(blocked seg_C2_C3_0_100 ?a)
|
|
(not (not_blocked seg_C2_C3_0_100 ?a))
|
|
(at-segment ?a seg_C2_C3_0_100)
|
|
|
|
(not (blocked seg_N_C_0_100 ?a))
|
|
(not_blocked seg_N_C_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C2_C3_0_100_seg_C3_C_A01_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C2_C3_0_100)
|
|
(not_occupied seg_C3_C_A01_0_100)
|
|
(not_blocked seg_C3_C_A01_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C3_C_A01_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C3_C_A01_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C3_C_A01_0_100 airplane_WURST)
|
|
(not_blocked seg_C3_C_A01_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C3_C_A01_0_100 airplane_4XEKD)
|
|
|
|
(not_occupied seg_C3_C4_0_50)
|
|
(not_occupied seg_C3_C_B01_0_100)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C2_C3_0_100))
|
|
(not_occupied seg_C2_C3_0_100)
|
|
(not (at-segment ?a seg_C2_C3_0_100))
|
|
|
|
(occupied seg_C3_C_A01_0_100)
|
|
(not (not_occupied seg_C3_C_A01_0_100))
|
|
(blocked seg_C3_C_A01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_A01_0_100 ?a))
|
|
(at-segment ?a seg_C3_C_A01_0_100)
|
|
|
|
(not (blocked seg_C_C2_0_100 ?a))
|
|
(not_blocked seg_C_C2_0_100 ?a)
|
|
|
|
(blocked seg_C3_C4_0_50 ?a)
|
|
(not (not_blocked seg_C3_C4_0_50 ?a))
|
|
(blocked seg_C3_C_B01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_B01_0_100 ?a))
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C3_C_A01_0_100_seg_A01_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C3_C_A01_0_100)
|
|
(not_occupied seg_A01_0_100)
|
|
(not_blocked seg_A01_0_100 airplane_CFBEG)
|
|
(not_blocked seg_A01_0_100 airplane_DAEWH)
|
|
(not_blocked seg_A01_0_100 airplane_DFBOY)
|
|
(not_blocked seg_A01_0_100 airplane_WURST)
|
|
(not_blocked seg_A01_0_100 airplane_HOLGI)
|
|
(not_blocked seg_A01_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C3_C_A01_0_100))
|
|
(not_occupied seg_C3_C_A01_0_100)
|
|
(not (at-segment ?a seg_C3_C_A01_0_100))
|
|
|
|
(occupied seg_A01_0_100)
|
|
(not (not_occupied seg_A01_0_100))
|
|
(blocked seg_A01_0_100 ?a)
|
|
(not (not_blocked seg_A01_0_100 ?a))
|
|
(at-segment ?a seg_A01_0_100)
|
|
|
|
(not (blocked seg_C2_C3_0_100 ?a))
|
|
(not_blocked seg_C2_C3_0_100 ?a)
|
|
(not (blocked seg_C3_C4_0_50 ?a))
|
|
(not_blocked seg_C3_C4_0_50 ?a)
|
|
(not (blocked seg_C3_C_B01_0_100 ?a))
|
|
(not_blocked seg_C3_C_B01_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_A02_0_100_seg_C5_C_A02_0_100_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_A02_0_100)
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_WURST)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_A02_0_100))
|
|
(not_occupied seg_A02_0_100)
|
|
(not (at-segment ?a seg_A02_0_100))
|
|
|
|
(occupied seg_C5_C_A02_0_100)
|
|
(not (not_occupied seg_C5_C_A02_0_100))
|
|
(blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_A02_0_100 ?a))
|
|
(at-segment ?a seg_C5_C_A02_0_100)
|
|
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C5_C_A02_0_100_seg_C5_C6_0_50_north_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_C5_C_A02_0_100)
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not_blocked seg_C5_C6_0_50 airplane_CFBEG)
|
|
(not_blocked seg_C5_C6_0_50 airplane_DAEWH)
|
|
(not_blocked seg_C5_C6_0_50 airplane_DFBOY)
|
|
(not_blocked seg_C5_C6_0_50 airplane_WURST)
|
|
(not_blocked seg_C5_C6_0_50 airplane_HOLGI)
|
|
(not_blocked seg_C5_C6_0_50 airplane_4XEKD)
|
|
|
|
(not_occupied seg_C4_C5_0_50)
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C5_C_A02_0_100))
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
(not (at-segment ?a seg_C5_C_A02_0_100))
|
|
|
|
(occupied seg_C5_C6_0_50)
|
|
(not (not_occupied seg_C5_C6_0_50))
|
|
(blocked seg_C5_C6_0_50 ?a)
|
|
(not (not_blocked seg_C5_C6_0_50 ?a))
|
|
(at-segment ?a seg_C5_C6_0_50)
|
|
(not (facing ?a north))
|
|
(facing ?a south)
|
|
|
|
(not (blocked seg_A02_0_100 ?a))
|
|
(not_blocked seg_A02_0_100 ?a)
|
|
|
|
(blocked seg_C4_C5_0_50 ?a)
|
|
(not (not_blocked seg_C4_C5_0_50 ?a))
|
|
(blocked seg_C5_C_B02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_B02_0_100 ?a))
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C5_C6_0_50_seg_C6_C7_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C5_C6_0_50)
|
|
(not_occupied seg_C6_C7_0_100)
|
|
(not_blocked seg_C6_C7_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C6_C7_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C6_C7_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C6_C7_0_100 airplane_WURST)
|
|
(not_blocked seg_C6_C7_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C6_C7_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C5_C6_0_50))
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not (at-segment ?a seg_C5_C6_0_50))
|
|
|
|
(occupied seg_C6_C7_0_100)
|
|
(not (not_occupied seg_C6_C7_0_100))
|
|
(blocked seg_C6_C7_0_100 ?a)
|
|
(not (not_blocked seg_C6_C7_0_100 ?a))
|
|
(at-segment ?a seg_C6_C7_0_100)
|
|
|
|
(not (blocked seg_C4_C5_0_50 ?a))
|
|
(not_blocked seg_C4_C5_0_50 ?a)
|
|
(not (blocked seg_C5_C_A02_0_100 ?a))
|
|
(not_blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (blocked seg_C5_C_B02_0_100 ?a))
|
|
(not_blocked seg_C5_C_B02_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C6_C7_0_100_seg_C5_C6_0_50_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_C6_C7_0_100)
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not_blocked seg_C5_C6_0_50 airplane_CFBEG)
|
|
(not_blocked seg_C5_C6_0_50 airplane_DAEWH)
|
|
(not_blocked seg_C5_C6_0_50 airplane_DFBOY)
|
|
(not_blocked seg_C5_C6_0_50 airplane_WURST)
|
|
(not_blocked seg_C5_C6_0_50 airplane_HOLGI)
|
|
(not_blocked seg_C5_C6_0_50 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C6_C7_0_100))
|
|
(not_occupied seg_C6_C7_0_100)
|
|
(not (at-segment ?a seg_C6_C7_0_100))
|
|
|
|
(occupied seg_C5_C6_0_50)
|
|
(not (not_occupied seg_C5_C6_0_50))
|
|
(blocked seg_C5_C6_0_50 ?a)
|
|
(not (not_blocked seg_C5_C6_0_50 ?a))
|
|
(at-segment ?a seg_C5_C6_0_50)
|
|
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C5_C6_0_50_seg_C4_C5_0_50_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_C5_C6_0_50)
|
|
(not_occupied seg_C4_C5_0_50)
|
|
(not_blocked seg_C4_C5_0_50 airplane_CFBEG)
|
|
(not_blocked seg_C4_C5_0_50 airplane_DAEWH)
|
|
(not_blocked seg_C4_C5_0_50 airplane_DFBOY)
|
|
(not_blocked seg_C4_C5_0_50 airplane_WURST)
|
|
(not_blocked seg_C4_C5_0_50 airplane_HOLGI)
|
|
(not_blocked seg_C4_C5_0_50 airplane_4XEKD)
|
|
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C5_C6_0_50))
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not (at-segment ?a seg_C5_C6_0_50))
|
|
|
|
(occupied seg_C4_C5_0_50)
|
|
(not (not_occupied seg_C4_C5_0_50))
|
|
(blocked seg_C4_C5_0_50 ?a)
|
|
(not (not_blocked seg_C4_C5_0_50 ?a))
|
|
(at-segment ?a seg_C4_C5_0_50)
|
|
|
|
(not (blocked seg_C6_C7_0_100 ?a))
|
|
(not_blocked seg_C6_C7_0_100 ?a)
|
|
|
|
(blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_A02_0_100 ?a))
|
|
(blocked seg_C5_C_B02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_B02_0_100 ?a))
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C2_C3_0_100_seg_C3_C4_0_50_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C2_C3_0_100)
|
|
(not_occupied seg_C3_C4_0_50)
|
|
(not_blocked seg_C3_C4_0_50 airplane_CFBEG)
|
|
(not_blocked seg_C3_C4_0_50 airplane_DAEWH)
|
|
(not_blocked seg_C3_C4_0_50 airplane_DFBOY)
|
|
(not_blocked seg_C3_C4_0_50 airplane_WURST)
|
|
(not_blocked seg_C3_C4_0_50 airplane_HOLGI)
|
|
(not_blocked seg_C3_C4_0_50 airplane_4XEKD)
|
|
|
|
(not_occupied seg_C3_C_A01_0_100)
|
|
(not_occupied seg_C3_C_B01_0_100)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C2_C3_0_100))
|
|
(not_occupied seg_C2_C3_0_100)
|
|
(not (at-segment ?a seg_C2_C3_0_100))
|
|
|
|
(occupied seg_C3_C4_0_50)
|
|
(not (not_occupied seg_C3_C4_0_50))
|
|
(blocked seg_C3_C4_0_50 ?a)
|
|
(not (not_blocked seg_C3_C4_0_50 ?a))
|
|
(at-segment ?a seg_C3_C4_0_50)
|
|
|
|
(not (blocked seg_C_C2_0_100 ?a))
|
|
(not_blocked seg_C_C2_0_100 ?a)
|
|
|
|
(blocked seg_C3_C_A01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_A01_0_100 ?a))
|
|
(blocked seg_C3_C_B01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_B01_0_100 ?a))
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C4_C5_0_50_seg_C5_C_A02_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C4_C5_0_50)
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_WURST)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_4XEKD)
|
|
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C4_C5_0_50))
|
|
(not_occupied seg_C4_C5_0_50)
|
|
(not (at-segment ?a seg_C4_C5_0_50))
|
|
|
|
(occupied seg_C5_C_A02_0_100)
|
|
(not (not_occupied seg_C5_C_A02_0_100))
|
|
(blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_A02_0_100 ?a))
|
|
(at-segment ?a seg_C5_C_A02_0_100)
|
|
|
|
(not (blocked seg_C3_C4_0_50 ?a))
|
|
(not_blocked seg_C3_C4_0_50 ?a)
|
|
|
|
(blocked seg_C5_C6_0_50 ?a)
|
|
(not (not_blocked seg_C5_C6_0_50 ?a))
|
|
(blocked seg_C5_C_B02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_B02_0_100 ?a))
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C5_C_A02_0_100_seg_A02_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C5_C_A02_0_100)
|
|
(not_occupied seg_A02_0_100)
|
|
(not_blocked seg_A02_0_100 airplane_CFBEG)
|
|
(not_blocked seg_A02_0_100 airplane_DAEWH)
|
|
(not_blocked seg_A02_0_100 airplane_DFBOY)
|
|
(not_blocked seg_A02_0_100 airplane_WURST)
|
|
(not_blocked seg_A02_0_100 airplane_HOLGI)
|
|
(not_blocked seg_A02_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C5_C_A02_0_100))
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
(not (at-segment ?a seg_C5_C_A02_0_100))
|
|
|
|
(occupied seg_A02_0_100)
|
|
(not (not_occupied seg_A02_0_100))
|
|
(blocked seg_A02_0_100 ?a)
|
|
(not (not_blocked seg_A02_0_100 ?a))
|
|
(at-segment ?a seg_A02_0_100)
|
|
|
|
(not (blocked seg_C4_C5_0_50 ?a))
|
|
(not_blocked seg_C4_C5_0_50 ?a)
|
|
(not (blocked seg_C5_C6_0_50 ?a))
|
|
(not_blocked seg_C5_C6_0_50 ?a)
|
|
(not (blocked seg_C5_C_B02_0_100 ?a))
|
|
(not_blocked seg_C5_C_B02_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_B01_0_100_seg_C3_C_B01_0_100_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_B01_0_100)
|
|
(not_occupied seg_C3_C_B01_0_100)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_WURST)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_B01_0_100))
|
|
(not_occupied seg_B01_0_100)
|
|
(not (at-segment ?a seg_B01_0_100))
|
|
|
|
(occupied seg_C3_C_B01_0_100)
|
|
(not (not_occupied seg_C3_C_B01_0_100))
|
|
(blocked seg_C3_C_B01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_B01_0_100 ?a))
|
|
(at-segment ?a seg_C3_C_B01_0_100)
|
|
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C3_C_B01_0_100_seg_C3_C4_0_50_north_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_C3_C_B01_0_100)
|
|
(not_occupied seg_C3_C4_0_50)
|
|
(not_blocked seg_C3_C4_0_50 airplane_CFBEG)
|
|
(not_blocked seg_C3_C4_0_50 airplane_DAEWH)
|
|
(not_blocked seg_C3_C4_0_50 airplane_DFBOY)
|
|
(not_blocked seg_C3_C4_0_50 airplane_WURST)
|
|
(not_blocked seg_C3_C4_0_50 airplane_HOLGI)
|
|
(not_blocked seg_C3_C4_0_50 airplane_4XEKD)
|
|
|
|
(not_occupied seg_C2_C3_0_100)
|
|
(not_occupied seg_C3_C_A01_0_100)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C3_C_B01_0_100))
|
|
(not_occupied seg_C3_C_B01_0_100)
|
|
(not (at-segment ?a seg_C3_C_B01_0_100))
|
|
|
|
(occupied seg_C3_C4_0_50)
|
|
(not (not_occupied seg_C3_C4_0_50))
|
|
(blocked seg_C3_C4_0_50 ?a)
|
|
(not (not_blocked seg_C3_C4_0_50 ?a))
|
|
(at-segment ?a seg_C3_C4_0_50)
|
|
(not (facing ?a north))
|
|
(facing ?a south)
|
|
|
|
(not (blocked seg_B01_0_100 ?a))
|
|
(not_blocked seg_B01_0_100 ?a)
|
|
|
|
(blocked seg_C2_C3_0_100 ?a)
|
|
(not (not_blocked seg_C2_C3_0_100 ?a))
|
|
(blocked seg_C3_C_A01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_A01_0_100 ?a))
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C2_C3_0_100_seg_C3_C_B01_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C2_C3_0_100)
|
|
(not_occupied seg_C3_C_B01_0_100)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_WURST)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C3_C_B01_0_100 airplane_4XEKD)
|
|
|
|
(not_occupied seg_C3_C4_0_50)
|
|
(not_occupied seg_C3_C_A01_0_100)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C2_C3_0_100))
|
|
(not_occupied seg_C2_C3_0_100)
|
|
(not (at-segment ?a seg_C2_C3_0_100))
|
|
|
|
(occupied seg_C3_C_B01_0_100)
|
|
(not (not_occupied seg_C3_C_B01_0_100))
|
|
(blocked seg_C3_C_B01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_B01_0_100 ?a))
|
|
(at-segment ?a seg_C3_C_B01_0_100)
|
|
|
|
(not (blocked seg_C_C2_0_100 ?a))
|
|
(not_blocked seg_C_C2_0_100 ?a)
|
|
|
|
(blocked seg_C3_C4_0_50 ?a)
|
|
(not (not_blocked seg_C3_C4_0_50 ?a))
|
|
(blocked seg_C3_C_A01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_A01_0_100 ?a))
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C3_C_B01_0_100_seg_B01_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C3_C_B01_0_100)
|
|
(not_occupied seg_B01_0_100)
|
|
(not_blocked seg_B01_0_100 airplane_CFBEG)
|
|
(not_blocked seg_B01_0_100 airplane_DAEWH)
|
|
(not_blocked seg_B01_0_100 airplane_DFBOY)
|
|
(not_blocked seg_B01_0_100 airplane_WURST)
|
|
(not_blocked seg_B01_0_100 airplane_HOLGI)
|
|
(not_blocked seg_B01_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C3_C_B01_0_100))
|
|
(not_occupied seg_C3_C_B01_0_100)
|
|
(not (at-segment ?a seg_C3_C_B01_0_100))
|
|
|
|
(occupied seg_B01_0_100)
|
|
(not (not_occupied seg_B01_0_100))
|
|
(blocked seg_B01_0_100 ?a)
|
|
(not (not_blocked seg_B01_0_100 ?a))
|
|
(at-segment ?a seg_B01_0_100)
|
|
|
|
(not (blocked seg_C2_C3_0_100 ?a))
|
|
(not_blocked seg_C2_C3_0_100 ?a)
|
|
(not (blocked seg_C3_C4_0_50 ?a))
|
|
(not_blocked seg_C3_C4_0_50 ?a)
|
|
(not (blocked seg_C3_C_A01_0_100 ?a))
|
|
(not_blocked seg_C3_C_A01_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_B02_0_100_seg_C5_C_B02_0_100_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_B02_0_100)
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_WURST)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_B02_0_100))
|
|
(not_occupied seg_B02_0_100)
|
|
(not (at-segment ?a seg_B02_0_100))
|
|
|
|
(occupied seg_C5_C_B02_0_100)
|
|
(not (not_occupied seg_C5_C_B02_0_100))
|
|
(blocked seg_C5_C_B02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_B02_0_100 ?a))
|
|
(at-segment ?a seg_C5_C_B02_0_100)
|
|
|
|
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C5_C_B02_0_100_seg_C5_C6_0_50_north_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_C5_C_B02_0_100)
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not_blocked seg_C5_C6_0_50 airplane_CFBEG)
|
|
(not_blocked seg_C5_C6_0_50 airplane_DAEWH)
|
|
(not_blocked seg_C5_C6_0_50 airplane_DFBOY)
|
|
(not_blocked seg_C5_C6_0_50 airplane_WURST)
|
|
(not_blocked seg_C5_C6_0_50 airplane_HOLGI)
|
|
(not_blocked seg_C5_C6_0_50 airplane_4XEKD)
|
|
|
|
(not_occupied seg_C4_C5_0_50)
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C5_C_B02_0_100))
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
(not (at-segment ?a seg_C5_C_B02_0_100))
|
|
|
|
(occupied seg_C5_C6_0_50)
|
|
(not (not_occupied seg_C5_C6_0_50))
|
|
(blocked seg_C5_C6_0_50 ?a)
|
|
(not (not_blocked seg_C5_C6_0_50 ?a))
|
|
(at-segment ?a seg_C5_C6_0_50)
|
|
(not (facing ?a north))
|
|
(facing ?a south)
|
|
|
|
(not (blocked seg_B02_0_100 ?a))
|
|
(not_blocked seg_B02_0_100 ?a)
|
|
|
|
(blocked seg_C4_C5_0_50 ?a)
|
|
(not (not_blocked seg_C4_C5_0_50 ?a))
|
|
(blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_A02_0_100 ?a))
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C4_C5_0_50_seg_C5_C_B02_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C4_C5_0_50)
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_WURST)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_4XEKD)
|
|
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C4_C5_0_50))
|
|
(not_occupied seg_C4_C5_0_50)
|
|
(not (at-segment ?a seg_C4_C5_0_50))
|
|
|
|
(occupied seg_C5_C_B02_0_100)
|
|
(not (not_occupied seg_C5_C_B02_0_100))
|
|
(blocked seg_C5_C_B02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_B02_0_100 ?a))
|
|
(at-segment ?a seg_C5_C_B02_0_100)
|
|
|
|
(not (blocked seg_C3_C4_0_50 ?a))
|
|
(not_blocked seg_C3_C4_0_50 ?a)
|
|
|
|
(blocked seg_C5_C6_0_50 ?a)
|
|
(not (not_blocked seg_C5_C6_0_50 ?a))
|
|
(blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_A02_0_100 ?a))
|
|
)
|
|
)
|
|
|
|
(:action move_seg_C5_C_B02_0_100_seg_B02_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-moving ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C5_C_B02_0_100)
|
|
(not_occupied seg_B02_0_100)
|
|
(not_blocked seg_B02_0_100 airplane_CFBEG)
|
|
(not_blocked seg_B02_0_100 airplane_DAEWH)
|
|
(not_blocked seg_B02_0_100 airplane_DFBOY)
|
|
(not_blocked seg_B02_0_100 airplane_WURST)
|
|
(not_blocked seg_B02_0_100 airplane_HOLGI)
|
|
(not_blocked seg_B02_0_100 airplane_4XEKD)
|
|
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C5_C_B02_0_100))
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
(not (at-segment ?a seg_C5_C_B02_0_100))
|
|
|
|
(occupied seg_B02_0_100)
|
|
(not (not_occupied seg_B02_0_100))
|
|
(blocked seg_B02_0_100 ?a)
|
|
(not (not_blocked seg_B02_0_100 ?a))
|
|
(at-segment ?a seg_B02_0_100)
|
|
|
|
(not (blocked seg_C4_C5_0_50 ?a))
|
|
(not_blocked seg_C4_C5_0_50 ?a)
|
|
(not (blocked seg_C5_C6_0_50 ?a))
|
|
(not_blocked seg_C5_C6_0_50 ?a)
|
|
(not (blocked seg_C5_C_A02_0_100 ?a))
|
|
(not_blocked seg_C5_C_A02_0_100 ?a)
|
|
|
|
)
|
|
)
|
|
|
|
(:action pushback_seg_A02_0_100_seg_C5_C_A02_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-pushing ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_A02_0_100)
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_WURST)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C5_C_A02_0_100 airplane_4XEKD)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_A02_0_100))
|
|
(not_occupied seg_A02_0_100)
|
|
(not (blocked seg_A02_0_100 ?a))
|
|
(not_blocked seg_A02_0_100 ?a)
|
|
(not (at-segment ?a seg_A02_0_100))
|
|
|
|
(occupied seg_C5_C_A02_0_100)
|
|
(not (not_occupied seg_C5_C_A02_0_100))
|
|
(blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_A02_0_100 ?a))
|
|
(at-segment ?a seg_C5_C_A02_0_100)
|
|
|
|
)
|
|
)
|
|
|
|
(:action pushback_seg_C5_C_A02_0_100_seg_C5_C6_0_50_south_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-pushing ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C5_C_A02_0_100)
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not_blocked seg_C5_C6_0_50 airplane_CFBEG)
|
|
(not_blocked seg_C5_C6_0_50 airplane_DAEWH)
|
|
(not_blocked seg_C5_C6_0_50 airplane_DFBOY)
|
|
(not_blocked seg_C5_C6_0_50 airplane_WURST)
|
|
(not_blocked seg_C5_C6_0_50 airplane_HOLGI)
|
|
(not_blocked seg_C5_C6_0_50 airplane_4XEKD)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C5_C_A02_0_100))
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
(not (blocked seg_C5_C_A02_0_100 ?a))
|
|
(not_blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (at-segment ?a seg_C5_C_A02_0_100))
|
|
|
|
(occupied seg_C5_C6_0_50)
|
|
(not (not_occupied seg_C5_C6_0_50))
|
|
(blocked seg_C5_C6_0_50 ?a)
|
|
(not (not_blocked seg_C5_C6_0_50 ?a))
|
|
(at-segment ?a seg_C5_C6_0_50)
|
|
(not (facing ?a south))
|
|
(facing ?a north)
|
|
|
|
)
|
|
)
|
|
|
|
(:action pushback_seg_C5_C6_0_50_seg_C6_C7_0_100_north_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-pushing ?a)
|
|
(facing ?a north)
|
|
(at-segment ?a seg_C5_C6_0_50)
|
|
(not_occupied seg_C6_C7_0_100)
|
|
(not_blocked seg_C6_C7_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C6_C7_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C6_C7_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C6_C7_0_100 airplane_WURST)
|
|
(not_blocked seg_C6_C7_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C6_C7_0_100 airplane_4XEKD)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C5_C6_0_50))
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not (blocked seg_C5_C6_0_50 ?a))
|
|
(not_blocked seg_C5_C6_0_50 ?a)
|
|
(not (at-segment ?a seg_C5_C6_0_50))
|
|
|
|
(occupied seg_C6_C7_0_100)
|
|
(not (not_occupied seg_C6_C7_0_100))
|
|
(blocked seg_C6_C7_0_100 ?a)
|
|
(not (not_blocked seg_C6_C7_0_100 ?a))
|
|
(at-segment ?a seg_C6_C7_0_100)
|
|
|
|
)
|
|
)
|
|
|
|
(:action pushback_seg_B02_0_100_seg_C5_C_B02_0_100_south_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-pushing ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_B02_0_100)
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_CFBEG)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_DAEWH)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_DFBOY)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_WURST)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_HOLGI)
|
|
(not_blocked seg_C5_C_B02_0_100 airplane_4XEKD)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_B02_0_100))
|
|
(not_occupied seg_B02_0_100)
|
|
(not (blocked seg_B02_0_100 ?a))
|
|
(not_blocked seg_B02_0_100 ?a)
|
|
(not (at-segment ?a seg_B02_0_100))
|
|
|
|
(occupied seg_C5_C_B02_0_100)
|
|
(not (not_occupied seg_C5_C_B02_0_100))
|
|
(blocked seg_C5_C_B02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_B02_0_100 ?a))
|
|
(at-segment ?a seg_C5_C_B02_0_100)
|
|
|
|
)
|
|
)
|
|
|
|
(:action pushback_seg_C5_C_B02_0_100_seg_C5_C6_0_50_south_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and
|
|
(has-type ?a medium)
|
|
(is-pushing ?a)
|
|
(facing ?a south)
|
|
(at-segment ?a seg_C5_C_B02_0_100)
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not_blocked seg_C5_C6_0_50 airplane_CFBEG)
|
|
(not_blocked seg_C5_C6_0_50 airplane_DAEWH)
|
|
(not_blocked seg_C5_C6_0_50 airplane_DFBOY)
|
|
(not_blocked seg_C5_C6_0_50 airplane_WURST)
|
|
(not_blocked seg_C5_C6_0_50 airplane_HOLGI)
|
|
(not_blocked seg_C5_C6_0_50 airplane_4XEKD)
|
|
)
|
|
|
|
:effect (and
|
|
(not (occupied seg_C5_C_B02_0_100))
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
(not (blocked seg_C5_C_B02_0_100 ?a))
|
|
(not_blocked seg_C5_C_B02_0_100 ?a)
|
|
(not (at-segment ?a seg_C5_C_B02_0_100))
|
|
|
|
(occupied seg_C5_C6_0_50)
|
|
(not (not_occupied seg_C5_C6_0_50))
|
|
(blocked seg_C5_C6_0_50 ?a)
|
|
(not (not_blocked seg_C5_C6_0_50 ?a))
|
|
(at-segment ?a seg_C5_C6_0_50)
|
|
(not (facing ?a south))
|
|
(facing ?a north)
|
|
|
|
)
|
|
)
|
|
|
|
|
|
|
|
|
|
(:action takeoff_seg_27_0_150_north
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (at-segment ?a seg_27_0_150)
|
|
(facing ?a north)
|
|
(is-moving ?a)
|
|
)
|
|
|
|
:effect (and (not (occupied seg_27_0_150))
|
|
(not_occupied seg_27_0_150)
|
|
(not (blocked seg_27_0_150 ?a))
|
|
(not_blocked seg_27_0_150 ?a)
|
|
(not (at-segment ?a seg_27_0_150))
|
|
(airborne ?a seg_27_0_150)
|
|
(not (is-moving ?a ))
|
|
(not (blocked seg_B_27_0_100 ?a))
|
|
(not_blocked seg_B_27_0_100 ?a)
|
|
)
|
|
)
|
|
|
|
(:action takeoff_seg_09_0_150_south
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (at-segment ?a seg_09_0_150)
|
|
(facing ?a south)
|
|
(is-moving ?a)
|
|
)
|
|
|
|
:effect (and (not (occupied seg_09_0_150))
|
|
(not_occupied seg_09_0_150)
|
|
(not (blocked seg_09_0_150 ?a))
|
|
(not_blocked seg_09_0_150 ?a)
|
|
(not (at-segment ?a seg_09_0_150))
|
|
(airborne ?a seg_09_0_150)
|
|
(not (is-moving ?a ))
|
|
(not (blocked seg_A_09_0_100 ?a))
|
|
(not_blocked seg_A_09_0_100 ?a)
|
|
)
|
|
)
|
|
|
|
|
|
(:action startup_seg_A_09_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_A_09_0_100)
|
|
(not_occupied seg_09Help_0_100)
|
|
(not_occupied seg_09_0_150)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_09Help_0_100 ?a)
|
|
(not (not_blocked seg_09Help_0_100 ?a))
|
|
(blocked seg_09_0_150 ?a)
|
|
(not (not_blocked seg_09_0_150 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_A_09_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_A_09_0_100)
|
|
(not_occupied seg_N1_A_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N1_A_0_100 ?a)
|
|
(not (not_blocked seg_N1_A_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_B_27_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_B_27_0_100)
|
|
(not_occupied seg_27_0_150)
|
|
(not_occupied seg_27Help_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_27_0_150 ?a)
|
|
(not (not_blocked seg_27_0_150 ?a))
|
|
(blocked seg_27Help_0_100 ?a)
|
|
(not (not_blocked seg_27Help_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_B_27_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_B_27_0_100)
|
|
(not_occupied seg_N6_B_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N6_B_0_100 ?a)
|
|
(not (not_blocked seg_N6_B_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N1_N2_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N1_N2_0_100)
|
|
(not_occupied seg_N2_N3_1_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_1_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_1_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N1_N2_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N1_N2_0_100)
|
|
(not_occupied seg_N1_A_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N1_A_0_100 ?a)
|
|
(not (not_blocked seg_N1_A_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N1_A_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N1_A_0_100)
|
|
(not_occupied seg_A_09_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_A_09_0_100 ?a)
|
|
(not (not_blocked seg_A_09_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N1_A_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N1_A_0_100)
|
|
(not_occupied seg_N1_N2_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N1_N2_0_100 ?a)
|
|
(not (not_blocked seg_N1_N2_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_1_0_86_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_1_0_86)
|
|
(not_occupied seg_N2_N3_2_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_2_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_2_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_1_0_86_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_1_0_86)
|
|
(not_occupied seg_N1_N2_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N1_N2_0_100 ?a)
|
|
(not (not_blocked seg_N1_N2_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_0_85_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_0_85)
|
|
(not_occupied seg_N3_N_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N3_N_0_100 ?a)
|
|
(not (not_blocked seg_N3_N_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_0_85_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_0_85)
|
|
(not_occupied seg_N2_N3_6_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_6_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_6_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N3_N_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N3_N_0_100)
|
|
(not_occupied seg_N_N4_0_100)
|
|
(not_occupied seg_N_C_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N_N4_0_100 ?a)
|
|
(not (not_blocked seg_N_N4_0_100 ?a))
|
|
(blocked seg_N_C_0_100 ?a)
|
|
(not (not_blocked seg_N_C_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N3_N_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N3_N_0_100)
|
|
(not_occupied seg_N2_N3_0_85)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_0_85 ?a)
|
|
(not (not_blocked seg_N2_N3_0_85 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N_N4_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N_N4_0_100)
|
|
(not_occupied seg_N4_N5_1_0_85)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_1_0_85 ?a)
|
|
(not (not_blocked seg_N4_N5_1_0_85 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N_N4_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N_N4_0_100)
|
|
(not_occupied seg_N3_N_0_100)
|
|
(not_occupied seg_N_C_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N3_N_0_100 ?a)
|
|
(not (not_blocked seg_N3_N_0_100 ?a))
|
|
(blocked seg_N_C_0_100 ?a)
|
|
(not (not_blocked seg_N_C_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N_C_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N_C_0_100)
|
|
(not_occupied seg_C_C2_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C_C2_0_100 ?a)
|
|
(not (not_blocked seg_C_C2_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N_C_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N_C_0_100)
|
|
(not_occupied seg_N3_N_0_100)
|
|
(not_occupied seg_N_N4_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N3_N_0_100 ?a)
|
|
(not (not_blocked seg_N3_N_0_100 ?a))
|
|
(blocked seg_N_N4_0_100 ?a)
|
|
(not (not_blocked seg_N_N4_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_1_0_85_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_1_0_85)
|
|
(not_occupied seg_N4_N5_2_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_2_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_2_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_1_0_85_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_1_0_85)
|
|
(not_occupied seg_N_N4_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N_N4_0_100 ?a)
|
|
(not (not_blocked seg_N_N4_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_0_86_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_0_86)
|
|
(not_occupied seg_N5_N6_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N5_N6_0_100 ?a)
|
|
(not (not_blocked seg_N5_N6_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_0_86_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_0_86)
|
|
(not_occupied seg_N4_N5_6_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_6_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_6_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N5_N6_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N5_N6_0_100)
|
|
(not_occupied seg_N6_B_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N6_B_0_100 ?a)
|
|
(not (not_blocked seg_N6_B_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N5_N6_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N5_N6_0_100)
|
|
(not_occupied seg_N4_N5_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N6_B_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N6_B_0_100)
|
|
(not_occupied seg_B_27_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_B_27_0_100 ?a)
|
|
(not (not_blocked seg_B_27_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N6_B_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N6_B_0_100)
|
|
(not_occupied seg_N5_N6_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N5_N6_0_100 ?a)
|
|
(not (not_blocked seg_N5_N6_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C_C2_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C_C2_0_100)
|
|
(not_occupied seg_C2_C3_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C2_C3_0_100 ?a)
|
|
(not (not_blocked seg_C2_C3_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C_C2_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C_C2_0_100)
|
|
(not_occupied seg_N_C_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N_C_0_100 ?a)
|
|
(not (not_blocked seg_N_C_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C2_C3_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C2_C3_0_100)
|
|
(not_occupied seg_C3_C4_0_50)
|
|
(not_occupied seg_C3_C_A01_0_100)
|
|
(not_occupied seg_C3_C_B01_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C3_C4_0_50 ?a)
|
|
(not (not_blocked seg_C3_C4_0_50 ?a))
|
|
(blocked seg_C3_C_A01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_A01_0_100 ?a))
|
|
(blocked seg_C3_C_B01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_B01_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C2_C3_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C2_C3_0_100)
|
|
(not_occupied seg_C_C2_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C_C2_0_100 ?a)
|
|
(not (not_blocked seg_C_C2_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C3_C4_0_50_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C3_C4_0_50)
|
|
(not_occupied seg_C4_C5_0_50)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C4_C5_0_50 ?a)
|
|
(not (not_blocked seg_C4_C5_0_50 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C3_C4_0_50_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C3_C4_0_50)
|
|
(not_occupied seg_C2_C3_0_100)
|
|
(not_occupied seg_C3_C_A01_0_100)
|
|
(not_occupied seg_C3_C_B01_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C2_C3_0_100 ?a)
|
|
(not (not_blocked seg_C2_C3_0_100 ?a))
|
|
(blocked seg_C3_C_A01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_A01_0_100 ?a))
|
|
(blocked seg_C3_C_B01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_B01_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C3_C_A01_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C3_C_A01_0_100)
|
|
(not_occupied seg_A01_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_A01_0_100 ?a)
|
|
(not (not_blocked seg_A01_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C3_C_A01_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C3_C_A01_0_100)
|
|
(not_occupied seg_C2_C3_0_100)
|
|
(not_occupied seg_C3_C4_0_50)
|
|
(not_occupied seg_C3_C_B01_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C2_C3_0_100 ?a)
|
|
(not (not_blocked seg_C2_C3_0_100 ?a))
|
|
(blocked seg_C3_C4_0_50 ?a)
|
|
(not (not_blocked seg_C3_C4_0_50 ?a))
|
|
(blocked seg_C3_C_B01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_B01_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C3_C_B01_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C3_C_B01_0_100)
|
|
(not_occupied seg_B01_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_B01_0_100 ?a)
|
|
(not (not_blocked seg_B01_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C3_C_B01_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C3_C_B01_0_100)
|
|
(not_occupied seg_C2_C3_0_100)
|
|
(not_occupied seg_C3_C4_0_50)
|
|
(not_occupied seg_C3_C_A01_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C2_C3_0_100 ?a)
|
|
(not (not_blocked seg_C2_C3_0_100 ?a))
|
|
(blocked seg_C3_C4_0_50 ?a)
|
|
(not (not_blocked seg_C3_C4_0_50 ?a))
|
|
(blocked seg_C3_C_A01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_A01_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C4_C5_0_50_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C4_C5_0_50)
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C5_C6_0_50 ?a)
|
|
(not (not_blocked seg_C5_C6_0_50 ?a))
|
|
(blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_A02_0_100 ?a))
|
|
(blocked seg_C5_C_B02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_B02_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C4_C5_0_50_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C4_C5_0_50)
|
|
(not_occupied seg_C3_C4_0_50)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C3_C4_0_50 ?a)
|
|
(not (not_blocked seg_C3_C4_0_50 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C5_C6_0_50_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C5_C6_0_50)
|
|
(not_occupied seg_C6_C7_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C6_C7_0_100 ?a)
|
|
(not (not_blocked seg_C6_C7_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C5_C6_0_50_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C5_C6_0_50)
|
|
(not_occupied seg_C4_C5_0_50)
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C4_C5_0_50 ?a)
|
|
(not (not_blocked seg_C4_C5_0_50 ?a))
|
|
(blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_A02_0_100 ?a))
|
|
(blocked seg_C5_C_B02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_B02_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C5_C_A02_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C5_C_A02_0_100)
|
|
(not_occupied seg_A02_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_A02_0_100 ?a)
|
|
(not (not_blocked seg_A02_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C5_C_A02_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C5_C_A02_0_100)
|
|
(not_occupied seg_C4_C5_0_50)
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C4_C5_0_50 ?a)
|
|
(not (not_blocked seg_C4_C5_0_50 ?a))
|
|
(blocked seg_C5_C6_0_50 ?a)
|
|
(not (not_blocked seg_C5_C6_0_50 ?a))
|
|
(blocked seg_C5_C_B02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_B02_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C5_C_B02_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C5_C_B02_0_100)
|
|
(not_occupied seg_B02_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_B02_0_100 ?a)
|
|
(not (not_blocked seg_B02_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C5_C_B02_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C5_C_B02_0_100)
|
|
(not_occupied seg_C4_C5_0_50)
|
|
(not_occupied seg_C5_C6_0_50)
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C4_C5_0_50 ?a)
|
|
(not (not_blocked seg_C4_C5_0_50 ?a))
|
|
(blocked seg_C5_C6_0_50 ?a)
|
|
(not (not_blocked seg_C5_C6_0_50 ?a))
|
|
(blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_A02_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_C6_C7_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C6_C7_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
)
|
|
)
|
|
(:action startup_seg_C6_C7_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_C6_C7_0_100)
|
|
(not_occupied seg_C5_C6_0_50)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C5_C6_0_50 ?a)
|
|
(not (not_blocked seg_C5_C6_0_50 ?a))
|
|
)
|
|
)
|
|
(:action park_seg_A01_0_100_north
|
|
:parameters (?a - airplane)
|
|
:precondition (and (at-segment ?a seg_A01_0_100)
|
|
(facing ?a north)
|
|
(is-moving ?a)
|
|
)
|
|
:effect (and (is-parked ?a seg_A01_0_100)
|
|
(not (is-moving ?a))
|
|
)
|
|
)
|
|
(:action park_seg_A01_0_100_south
|
|
:parameters (?a - airplane)
|
|
:precondition (and (at-segment ?a seg_A01_0_100)
|
|
(facing ?a south)
|
|
(is-moving ?a)
|
|
)
|
|
:effect (and (is-parked ?a seg_A01_0_100)
|
|
(not (is-moving ?a))
|
|
(not (blocked seg_C3_C_A01_0_100 ?a))
|
|
(not_blocked seg_C3_C_A01_0_100 ?a)
|
|
)
|
|
)
|
|
(:action startup_seg_A01_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_A01_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
)
|
|
)
|
|
(:action startup_seg_A01_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_A01_0_100)
|
|
(not_occupied seg_C3_C_A01_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C3_C_A01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_A01_0_100 ?a))
|
|
)
|
|
)
|
|
(:action park_seg_A02_0_100_north
|
|
:parameters (?a - airplane)
|
|
:precondition (and (at-segment ?a seg_A02_0_100)
|
|
(facing ?a north)
|
|
(is-moving ?a)
|
|
)
|
|
:effect (and (is-parked ?a seg_A02_0_100)
|
|
(not (is-moving ?a))
|
|
)
|
|
)
|
|
(:action park_seg_A02_0_100_south
|
|
:parameters (?a - airplane)
|
|
:precondition (and (at-segment ?a seg_A02_0_100)
|
|
(facing ?a south)
|
|
(is-moving ?a)
|
|
)
|
|
:effect (and (is-parked ?a seg_A02_0_100)
|
|
(not (is-moving ?a))
|
|
(not (blocked seg_C5_C_A02_0_100 ?a))
|
|
(not_blocked seg_C5_C_A02_0_100 ?a)
|
|
)
|
|
)
|
|
(:action startup_seg_A02_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_A02_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
)
|
|
)
|
|
(:action startup_seg_A02_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_A02_0_100)
|
|
(not_occupied seg_C5_C_A02_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C5_C_A02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_A02_0_100 ?a))
|
|
)
|
|
)
|
|
(:action park_seg_B01_0_100_north
|
|
:parameters (?a - airplane)
|
|
:precondition (and (at-segment ?a seg_B01_0_100)
|
|
(facing ?a north)
|
|
(is-moving ?a)
|
|
)
|
|
:effect (and (is-parked ?a seg_B01_0_100)
|
|
(not (is-moving ?a))
|
|
)
|
|
)
|
|
(:action park_seg_B01_0_100_south
|
|
:parameters (?a - airplane)
|
|
:precondition (and (at-segment ?a seg_B01_0_100)
|
|
(facing ?a south)
|
|
(is-moving ?a)
|
|
)
|
|
:effect (and (is-parked ?a seg_B01_0_100)
|
|
(not (is-moving ?a))
|
|
(not (blocked seg_C3_C_B01_0_100 ?a))
|
|
(not_blocked seg_C3_C_B01_0_100 ?a)
|
|
)
|
|
)
|
|
(:action startup_seg_B01_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_B01_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
)
|
|
)
|
|
(:action startup_seg_B01_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_B01_0_100)
|
|
(not_occupied seg_C3_C_B01_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C3_C_B01_0_100 ?a)
|
|
(not (not_blocked seg_C3_C_B01_0_100 ?a))
|
|
)
|
|
)
|
|
(:action park_seg_B02_0_100_north
|
|
:parameters (?a - airplane)
|
|
:precondition (and (at-segment ?a seg_B02_0_100)
|
|
(facing ?a north)
|
|
(is-moving ?a)
|
|
)
|
|
:effect (and (is-parked ?a seg_B02_0_100)
|
|
(not (is-moving ?a))
|
|
)
|
|
)
|
|
(:action park_seg_B02_0_100_south
|
|
:parameters (?a - airplane)
|
|
:precondition (and (at-segment ?a seg_B02_0_100)
|
|
(facing ?a south)
|
|
(is-moving ?a)
|
|
)
|
|
:effect (and (is-parked ?a seg_B02_0_100)
|
|
(not (is-moving ?a))
|
|
(not (blocked seg_C5_C_B02_0_100 ?a))
|
|
(not_blocked seg_C5_C_B02_0_100 ?a)
|
|
)
|
|
)
|
|
(:action startup_seg_B02_0_100_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_B02_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
)
|
|
)
|
|
(:action startup_seg_B02_0_100_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_B02_0_100)
|
|
(not_occupied seg_C5_C_B02_0_100)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_C5_C_B02_0_100 ?a)
|
|
(not (not_blocked seg_C5_C_B02_0_100 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_2_0_86_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_2_0_86)
|
|
(not_occupied seg_N2_N3_3_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_3_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_3_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_2_0_86_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_2_0_86)
|
|
(not_occupied seg_N2_N3_1_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_1_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_1_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_3_0_86_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_3_0_86)
|
|
(not_occupied seg_N2_N3_4_0_85)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_4_0_85 ?a)
|
|
(not (not_blocked seg_N2_N3_4_0_85 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_3_0_86_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_3_0_86)
|
|
(not_occupied seg_N2_N3_2_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_2_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_2_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_4_0_85_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_4_0_85)
|
|
(not_occupied seg_N2_N3_5_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_5_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_5_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_4_0_85_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_4_0_85)
|
|
(not_occupied seg_N2_N3_3_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_3_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_3_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_5_0_86_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_5_0_86)
|
|
(not_occupied seg_N2_N3_6_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_6_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_6_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_5_0_86_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_5_0_86)
|
|
(not_occupied seg_N2_N3_4_0_85)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_4_0_85 ?a)
|
|
(not (not_blocked seg_N2_N3_4_0_85 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_6_0_86_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_6_0_86)
|
|
(not_occupied seg_N2_N3_0_85)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_0_85 ?a)
|
|
(not (not_blocked seg_N2_N3_0_85 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N2_N3_6_0_86_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N2_N3_6_0_86)
|
|
(not_occupied seg_N2_N3_5_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N2_N3_5_0_86 ?a)
|
|
(not (not_blocked seg_N2_N3_5_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_2_0_86_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_2_0_86)
|
|
(not_occupied seg_N4_N5_3_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_3_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_3_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_2_0_86_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_2_0_86)
|
|
(not_occupied seg_N4_N5_1_0_85)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_1_0_85 ?a)
|
|
(not (not_blocked seg_N4_N5_1_0_85 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_3_0_86_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_3_0_86)
|
|
(not_occupied seg_N4_N5_4_0_85)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_4_0_85 ?a)
|
|
(not (not_blocked seg_N4_N5_4_0_85 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_3_0_86_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_3_0_86)
|
|
(not_occupied seg_N4_N5_2_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_2_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_2_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_4_0_85_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_4_0_85)
|
|
(not_occupied seg_N4_N5_5_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_5_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_5_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_4_0_85_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_4_0_85)
|
|
(not_occupied seg_N4_N5_3_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_3_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_3_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_5_0_86_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_5_0_86)
|
|
(not_occupied seg_N4_N5_6_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_6_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_6_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_5_0_86_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_5_0_86)
|
|
(not_occupied seg_N4_N5_4_0_85)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_4_0_85 ?a)
|
|
(not (not_blocked seg_N4_N5_4_0_85 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_6_0_86_north_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_6_0_86)
|
|
(not_occupied seg_N4_N5_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_0_86 ?a))
|
|
)
|
|
)
|
|
(:action startup_seg_N4_N5_6_0_86_south_medium
|
|
|
|
:parameters (?a - airplane)
|
|
|
|
:precondition (and (is-pushing ?a)
|
|
(at-segment ?a seg_N4_N5_6_0_86)
|
|
(not_occupied seg_N4_N5_5_0_86)
|
|
)
|
|
|
|
:effect (and (not (is-pushing ?a))
|
|
(is-moving ?a)
|
|
(blocked seg_N4_N5_5_0_86 ?a)
|
|
(not (not_blocked seg_N4_N5_5_0_86 ?a))
|
|
)
|
|
)
|
|
)
|