216 lines
8.1 KiB
Plaintext
216 lines
8.1 KiB
Plaintext
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(define (domain woodworking)
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(:requirements :typing :durative-actions :numeric-fluents)
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(:types
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acolour awood woodobj machine
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surface treatmentstatus - object
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highspeed-saw glazer grinder immersion-varnisher
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planer saw spray-varnisher - machine
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board part - woodobj)
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(:constants
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verysmooth smooth rough - surface
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varnished glazed untreated colourfragments - treatmentstatus
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natural - acolour)
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(:predicates
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(idle ?machine - machine)
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(unused ?obj - part)
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(available ?obj - woodobj)
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(surface-condition ?obj - woodobj ?surface - surface)
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(treatment ?obj - part ?treatment - treatmentstatus)
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(colour ?obj - part ?colour - acolour)
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(wood ?obj - woodobj ?wood - awood)
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(in-highspeed-saw ?b - board ?m - highspeed-saw)
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(empty ?m - highspeed-saw)
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(has-colour ?machine - machine ?colour - acolour)
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(grind-treatment-change ?old ?new - treatmentstatus)
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(is-smooth ?surface - surface))
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(:functions
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(board-size ?board - board)
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(goal-size ?obj - part))
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(:durative-action do-immersion-varnish
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:parameters (?x - part ?m - immersion-varnisher
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?newcolour - acolour ?surface - surface)
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:duration (= ?duration 10)
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:condition (and
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(at start (idle ?m))
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(at start (available ?x))
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(at start (surface-condition ?x ?surface))
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(at start (is-smooth ?surface))
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(at start (has-colour ?m ?newcolour))
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(at start (treatment ?x untreated)))
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:effect (and
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(at start (not (idle ?m)))
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(at start (not (available ?x)))
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(at start (not (treatment ?x untreated)))
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(at start (not (colour ?x natural)))
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(at end (idle ?m))
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(at end (available ?x))
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(at end (treatment ?x varnished))
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(at end (colour ?x ?newcolour))))
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(:durative-action do-spray-varnish
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:parameters (?x - part ?m - spray-varnisher
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?newcolour - acolour ?surface - surface)
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:duration (= ?duration (goal-size ?x))
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:condition (and
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(at start (idle ?m))
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(at start (available ?x))
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(at start (surface-condition ?x ?surface))
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(at start (is-smooth ?surface))
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(at start (has-colour ?m ?newcolour))
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(at start (treatment ?x untreated)))
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:effect (and
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(at start (not (idle ?m)))
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(at start (not (available ?x)))
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(at start (not (treatment ?x untreated)))
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(at start (not (colour ?x natural)))
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(at end (idle ?m))
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(at end (available ?x))
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(at end (treatment ?x varnished))
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(at end (colour ?x ?newcolour))))
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(:durative-action do-glaze
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:parameters (?x - part ?m - glazer
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?newcolour - acolour)
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:duration (= ?duration (+ (goal-size ?x) 5))
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:condition (and
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(at start (idle ?m))
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(at start (available ?x))
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(at start (has-colour ?m ?newcolour))
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(at start (treatment ?x untreated)))
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:effect (and
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(at start (not (idle ?m)))
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(at start (not (available ?x)))
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(at start (not (treatment ?x untreated)))
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(at start (not (colour ?x natural)))
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(at end (idle ?m))
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(at end (available ?x))
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(at end (treatment ?x glazed))
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(at end (colour ?x ?newcolour))))
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(:durative-action do-grind
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:parameters (?x - part ?m - grinder ?oldsurface - surface
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?oldcolour - acolour
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?oldtreatment ?newtreatment - treatmentstatus)
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:duration (= ?duration (* 3 (goal-size ?x)))
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:condition (and
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(at start (idle ?m))
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(at start (available ?x))
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(at start (surface-condition ?x ?oldsurface))
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(at start (is-smooth ?oldsurface))
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(at start (colour ?x ?oldcolour))
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(at start (treatment ?x ?oldtreatment))
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(at start (grind-treatment-change ?oldtreatment ?newtreatment)))
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:effect (and
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(at start (not (idle ?m)))
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(at start (not (available ?x)))
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(at start (not (surface-condition ?x ?oldsurface)))
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(at start (not (treatment ?x ?oldtreatment)))
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(at start (not (colour ?x ?oldcolour)))
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(at end (idle ?m))
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(at end (available ?x))
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(at end (surface-condition ?x verysmooth))
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(at end (treatment ?x ?newtreatment))
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(at end (colour ?x natural))))
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(:durative-action do-plane
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:parameters (?x - part ?m - planer ?oldsurface - surface
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?oldcolour - acolour ?oldtreatment - treatmentstatus)
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:duration (= ?duration (* 2 (goal-size ?x)))
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:condition (and
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(at start (idle ?m))
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(at start (available ?x))
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(at start (surface-condition ?x ?oldsurface))
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(at start (treatment ?x ?oldtreatment))
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(at start (colour ?x ?oldcolour)))
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:effect (and
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(at start (not (idle ?m)))
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(at start (not (available ?x)))
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(at start (not (surface-condition ?x ?oldsurface)))
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(at start (not (treatment ?x ?oldtreatment)))
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(at start (not (colour ?x ?oldcolour)))
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(at end (idle ?m))
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(at end (available ?x))
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(at end (surface-condition ?x smooth))
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(at end (treatment ?x untreated))
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(at end (colour ?x natural))))
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(:durative-action load-highspeed-saw
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:parameters (?b - board ?m - highspeed-saw)
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:duration (= ?duration 30)
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:condition (and
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(at start (idle ?m))
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(at start (empty ?m))
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(at start (available ?b)))
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:effect (and
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(at start (not (idle ?m)))
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(at start (not (available ?b)))
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(at start (not (empty ?m)))
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(at end (idle ?m))
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(at end (in-highspeed-saw ?b ?m))))
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(:durative-action unload-highspeed-saw
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:parameters (?b - board ?m - highspeed-saw)
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:duration (= ?duration 10)
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:condition (and
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(at start (idle ?m))
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(at start (in-highspeed-saw ?b ?m)))
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:effect (and
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(at start (not (idle ?m)))
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(at end (available ?b))
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(at end (not (in-highspeed-saw ?b ?m)))
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(at end (empty ?m))
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(at end (idle ?m))))
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(:durative-action cut-board
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:parameters (?b - board ?p - part ?m - highspeed-saw ?w - awood
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?surface - surface)
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:duration (= ?duration 10)
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:condition (and
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(at start (idle ?m))
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(at start (unused ?p))
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(at start (in-highspeed-saw ?b ?m))
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(at start (wood ?b ?w))
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(at start (surface-condition ?b ?surface))
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(at start (>= (board-size ?b) (goal-size ?p))))
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:effect (and
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(at start (not (idle ?m)))
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(at start (not (unused ?p)))
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(at start (decrease (board-size ?b) (goal-size ?p)))
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(at end (idle ?m))
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(at end (available ?p))
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(at end (wood ?p ?w))
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(at end (surface-condition ?p ?surface))
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(at end (colour ?p natural))
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(at end (treatment ?p untreated))))
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(:durative-action do-saw
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:parameters (?b - board ?p - part ?m - saw ?w - awood
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?surface - surface)
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:duration (= ?duration 30)
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:condition (and
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(at start (idle ?m))
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(at start (unused ?p))
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(at start (available ?b))
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(at start (wood ?b ?w))
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(at start (surface-condition ?b ?surface))
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(at start (>= (board-size ?b) (goal-size ?p))))
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:effect (and
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(at start (not (idle ?m)))
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(at start (not (unused ?p)))
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(at start (not (available ?b)))
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(at end (decrease (board-size ?b) (goal-size ?p)))
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(at end (idle ?m))
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(at end (available ?p))
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(at end (available ?b))
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(at end (wood ?p ?w))
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(at end (surface-condition ?p ?surface))
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(at end (colour ?p natural))
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(at end (treatment ?p untreated))))
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)
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