574 lines
20 KiB
Plaintext
574 lines
20 KiB
Plaintext
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;; PARC's modular printer domain
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;; compiled into PDDL by Rong Zhou
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;; To report a problem, send email to rzhou@parc.com
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;; Papers:
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;; 1. Planning for Modular Printers: Beyond Productivity
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;; Minh B. Do, Wheeler Ruml, and Rong Zhou. ICAPS'08
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;; 2. On-line Planning and Scheduling: An Application to Controlling Modular Printers
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;; Minh B. Do, Wheeler Ruml, and Rong Zhou. AAAI'08
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;; 3. On-line Planning and Scheduling for High-speed Manufacturing
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;; Wheeler Ruml, Minh B. Do, and Markus P.J. Fromherz. ICAPS'05
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(define (domain upp)
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(:requirements :typing :durative-actions)
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(:types size_t location_t side_t color_t image_t timepoint_t resource_t action_t sheet_t)
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(:constants
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Letter - size_t
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Black
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Color - color_t
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Front
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Back - side_t
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Some_Feeder_Tray
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Some_Finisher_Tray
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EndCap_Entry-BlackContainer_Exit
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HtmOverBlack_Entry-EndCap_Exit
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HtmOverBlack_Exit-Down_TopEntry
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ColorContainer_Entry-Down_BottomExit
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ColorContainer_ExitToIME-ColorPrinter_Entry
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ColorPrinter_Exit-ColorContainer_EntryFromIME
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ColorContainer_Exit-Up_BottomEntry
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Down_BottomEntry-ColorFeeder_Exit
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BlackContainer_Entry-BlackFeeder_Exit
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Down_TopExit-HtmOverColor_Entry
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HtmOverColor_Exit-Up_TopEntry
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BlackContainer_ExitToIME-BlackPrinter_Entry
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BlackPrinter_Exit-BlackContainer_EntryFromIME
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Finisher1_Entry-Up_TopExit
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Finisher2_Entry-Finisher1_Exit
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Finisher1_Tray
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Finisher2_Exit
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Finisher2_Tray - location_t
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ColorContainer-ToIME-Letter-T0
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ColorPrinter-Simplex-Letter-T0
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ColorPrinter-SimplexMono-Letter-T0
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ColorFeeder-Feed-Letter-T0
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BlackFeeder-Feed-Letter-T0
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Down-MoveBottom-Letter-T1
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Down-MoveDown-Letter-T1
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BlackPrinter-Simplex-Letter-T0
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BlackPrinter-SimplexAndInvert-Letter-T0
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Up-MoveTop-Letter-T1
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Up-MoveUp-Letter-T1
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Finisher1-Stack-Letter-T0
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Finisher2-Stack-Letter-T0 - timepoint_t
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ColorContainer_Roller-RSRC
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ColorPrinter_Drum-RSRC
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ColorFeeder_ExitNip-RSRC
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BlackFeeder_ExitNip-RSRC
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Down_BottomExitNip-RSRC
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BlackPrinter_Drum-RSRC
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Up_TopExitNip-RSRC
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Finisher1_EntryNip-RSRC
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Finisher2_EntryNip-RSRC - resource_t
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ColorContainer-ToIME-Letter
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ColorPrinter-Simplex-Letter
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ColorPrinter-SimplexMono-Letter
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ColorFeeder-Feed-Letter
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BlackFeeder-Feed-Letter
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Down-MoveBottom-Letter
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Down-MoveDown-Letter
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BlackPrinter-Simplex-Letter
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BlackPrinter-SimplexAndInvert-Letter
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Up-MoveTop-Letter
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Up-MoveUp-Letter
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Finisher1-Stack-Letter
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Finisher2-Stack-Letter - action_t
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)
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(:predicates
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(Sheetsize ?sheet - sheet_t ?size - size_t)
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(Location ?sheet - sheet_t ?location - location_t)
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(Hasimage ?sheet - sheet_t ?side - side_t ?image - image_t)
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(Sideup ?sheet - sheet_t ?side - side_t)
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(Stackedin ?sheet - sheet_t ?location - location_t)
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(Imagecolor ?image - image_t ?color - color_t)
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(Notprintedwith ?sheet - sheet_t ?side - side_t ?color - color_t)
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(Oppositeside ?side1 - side_t ?side2 - side_t)
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(Timepoint ?sheet - sheet_t ?timepoint - timepoint_t)
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(Hasallrsrcs ?sheet - sheet_t ?action - action_t)
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(Available ?resource - resource_t)
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(Prevsheet ?sheet1 - sheet_t ?sheet2 - sheet_t)
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(Uninitialized)
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)
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(:durative-action initialize
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:parameters ()
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:duration (= ?duration 1)
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:condition (and
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(at start (Uninitialized)))
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:effect (and
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(at start (not (Uninitialized)))
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(at start (Available ColorContainer_Roller-RSRC))
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(at start (Available ColorPrinter_Drum-RSRC))
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(at start (Available ColorFeeder_ExitNip-RSRC))
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(at start (Available BlackFeeder_ExitNip-RSRC))
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(at start (Available Down_BottomExitNip-RSRC))
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(at start (Available BlackPrinter_Drum-RSRC))
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(at start (Available Up_TopExitNip-RSRC))
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(at start (Available Finisher1_EntryNip-RSRC))
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(at start (Available Finisher2_EntryNip-RSRC)))
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)
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(:durative-action EndCap-Move-Letter
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 2000)
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:condition (and
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(at start (Sheetsize ?sheet Letter))
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(at start (Location ?sheet EndCap_Entry-BlackContainer_Exit)))
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:effect (and
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(at start (not (Location ?sheet EndCap_Entry-BlackContainer_Exit)))
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(at end (Location ?sheet HtmOverBlack_Entry-EndCap_Exit)))
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)
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(:durative-action HtmOverBlack-Move-Letter
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 17999)
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:condition (and
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(at start (Sheetsize ?sheet Letter))
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(at start (Location ?sheet HtmOverBlack_Entry-EndCap_Exit)))
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:effect (and
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(at start (not (Location ?sheet HtmOverBlack_Entry-EndCap_Exit)))
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(at end (Location ?sheet HtmOverBlack_Exit-Down_TopEntry)))
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)
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(:durative-action ColorContainer-ToIME-Letter-0
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 8000)
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:condition (and
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(at start (Sheetsize ?sheet Letter))
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(at start (Location ?sheet ColorContainer_Entry-Down_BottomExit))
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(at start (Available ColorContainer_Roller-RSRC)))
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:effect (and
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(at start (not (Location ?sheet ColorContainer_Entry-Down_BottomExit)))
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(at start (not (Available ColorContainer_Roller-RSRC)))
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(at start (Hasallrsrcs ?sheet ColorContainer-ToIME-Letter))
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(at end (Location ?sheet ColorContainer_ExitToIME-ColorPrinter_Entry)))
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)
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(:durative-action ColorContainer-ToIME-Letter-1
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 9999)
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:condition (and
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(at start (Hasallrsrcs ?sheet ColorContainer-ToIME-Letter)))
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:effect (and
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(at end (Available ColorContainer_Roller-RSRC))
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(at end (not (Hasallrsrcs ?sheet ColorContainer-ToIME-Letter))))
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)
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(:durative-action ColorContainer-FromIME-Letter
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 8000)
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:condition (and
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(at start (Sheetsize ?sheet Letter))
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(at start (Location ?sheet ColorPrinter_Exit-ColorContainer_EntryFromIME)))
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:effect (and
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(at start (not (Location ?sheet ColorPrinter_Exit-ColorContainer_EntryFromIME)))
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(at end (Location ?sheet ColorContainer_Exit-Up_BottomEntry)))
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)
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(:durative-action ColorPrinter-Simplex-Letter-0
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:parameters ( ?sheet - sheet_t ?face - side_t ?image - image_t)
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:duration (= ?duration 39040)
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:condition (and
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(at start (Sheetsize ?sheet Letter))
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(at start (Sideup ?sheet ?face))
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(at start (Imagecolor ?image Color))
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(at start (Location ?sheet ColorContainer_ExitToIME-ColorPrinter_Entry))
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(at start (Notprintedwith ?sheet ?face Color))
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(at start (Available ColorPrinter_Drum-RSRC)))
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:effect (and
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(at start (not (Location ?sheet ColorContainer_ExitToIME-ColorPrinter_Entry)))
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(at start (not (Notprintedwith ?sheet ?face Color)))
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(at start (not (Available ColorPrinter_Drum-RSRC)))
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(at start (Hasallrsrcs ?sheet ColorPrinter-Simplex-Letter))
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(at end (Location ?sheet ColorPrinter_Exit-ColorContainer_EntryFromIME))
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(at end (Hasimage ?sheet ?face ?image)))
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)
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(:durative-action ColorPrinter-Simplex-Letter-1
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 11999)
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:condition (and
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(at start (Hasallrsrcs ?sheet ColorPrinter-Simplex-Letter)))
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:effect (and
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(at end (Available ColorPrinter_Drum-RSRC))
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(at end (not (Hasallrsrcs ?sheet ColorPrinter-Simplex-Letter))))
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)
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(:durative-action ColorPrinter-SimplexMono-Letter-0
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:parameters ( ?sheet - sheet_t ?face - side_t ?image - image_t)
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:duration (= ?duration 39040)
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:condition (and
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(at start (Sheetsize ?sheet Letter))
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(at start (Sideup ?sheet ?face))
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(at start (Imagecolor ?image Black))
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(at start (Location ?sheet ColorContainer_ExitToIME-ColorPrinter_Entry))
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(at start (Notprintedwith ?sheet ?face Black))
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(at start (Available ColorPrinter_Drum-RSRC)))
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:effect (and
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(at start (not (Location ?sheet ColorContainer_ExitToIME-ColorPrinter_Entry)))
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(at start (not (Notprintedwith ?sheet ?face Black)))
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(at start (not (Available ColorPrinter_Drum-RSRC)))
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(at start (Hasallrsrcs ?sheet ColorPrinter-SimplexMono-Letter))
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(at end (Location ?sheet ColorPrinter_Exit-ColorContainer_EntryFromIME))
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(at end (Hasimage ?sheet ?face ?image)))
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)
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(:durative-action ColorPrinter-SimplexMono-Letter-1
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 11999)
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:condition (and
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(at start (Hasallrsrcs ?sheet ColorPrinter-SimplexMono-Letter)))
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:effect (and
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(at end (Available ColorPrinter_Drum-RSRC))
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(at end (not (Hasallrsrcs ?sheet ColorPrinter-SimplexMono-Letter))))
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)
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(:durative-action ColorFeeder-Feed-Letter-0
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 8000)
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:condition (and
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(at start (Sheetsize ?sheet Letter))
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(at start (Location ?sheet Some_Feeder_Tray))
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(at start (Available ColorFeeder_ExitNip-RSRC)))
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:effect (and
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(at start (not (Location ?sheet Some_Feeder_Tray)))
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(at start (not (Available ColorFeeder_ExitNip-RSRC)))
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(at start (Hasallrsrcs ?sheet ColorFeeder-Feed-Letter))
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(at start (Sideup ?sheet Front))
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(at end (Location ?sheet Down_BottomEntry-ColorFeeder_Exit)))
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)
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(:durative-action ColorFeeder-Feed-Letter-1
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 2158)
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:condition (and
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(at start (Hasallrsrcs ?sheet ColorFeeder-Feed-Letter)))
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:effect (and
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(at end (Available ColorFeeder_ExitNip-RSRC))
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(at end (not (Hasallrsrcs ?sheet ColorFeeder-Feed-Letter))))
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)
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(:durative-action BlackFeeder-Feed-Letter-0
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 8000)
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:condition (and
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(at start (Sheetsize ?sheet Letter))
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(at start (Location ?sheet Some_Feeder_Tray))
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(at start (Available BlackFeeder_ExitNip-RSRC)))
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:effect (and
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(at start (not (Location ?sheet Some_Feeder_Tray)))
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(at start (not (Available BlackFeeder_ExitNip-RSRC)))
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(at start (Hasallrsrcs ?sheet BlackFeeder-Feed-Letter))
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(at start (Sideup ?sheet Front))
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(at end (Location ?sheet BlackContainer_Entry-BlackFeeder_Exit)))
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)
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(:durative-action BlackFeeder-Feed-Letter-1
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 2158)
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:condition (and
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(at start (Hasallrsrcs ?sheet BlackFeeder-Feed-Letter)))
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:effect (and
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(at end (Available BlackFeeder_ExitNip-RSRC))
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(at end (not (Hasallrsrcs ?sheet BlackFeeder-Feed-Letter))))
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)
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(:durative-action Down-MoveTop-Letter
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 2999)
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:condition (and
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(at start (Sheetsize ?sheet Letter))
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(at start (Location ?sheet HtmOverBlack_Exit-Down_TopEntry)))
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:effect (and
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(at start (not (Location ?sheet HtmOverBlack_Exit-Down_TopEntry)))
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(at end (Location ?sheet Down_TopExit-HtmOverColor_Entry)))
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)
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(:durative-action Down-MoveBottom-Letter-0
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 2999)
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:condition (and
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(at start (Sheetsize ?sheet Letter))
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(at start (Location ?sheet Down_BottomEntry-ColorFeeder_Exit)))
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:effect (and
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(at start (not (Location ?sheet Down_BottomEntry-ColorFeeder_Exit)))
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(at end (Timepoint ?sheet Down-MoveBottom-Letter-T1)))
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)
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(:durative-action Down-MoveBottom-Letter-1
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 1)
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:condition (and
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(at start (Timepoint ?sheet Down-MoveBottom-Letter-T1))
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(at start (Available Down_BottomExitNip-RSRC)))
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:effect (and
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(at start (not (Timepoint ?sheet Down-MoveBottom-Letter-T1)))
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(at start (not (Available Down_BottomExitNip-RSRC)))
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(at start (Hasallrsrcs ?sheet Down-MoveBottom-Letter))
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(at end (Location ?sheet ColorContainer_Entry-Down_BottomExit)))
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)
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(:durative-action Down-MoveBottom-Letter-2
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 2458)
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:condition (and
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(at start (Hasallrsrcs ?sheet Down-MoveBottom-Letter)))
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:effect (and
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(at end (Available Down_BottomExitNip-RSRC))
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(at end (not (Hasallrsrcs ?sheet Down-MoveBottom-Letter))))
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)
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(:durative-action Down-MoveDown-Letter-0
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 9999)
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:condition (and
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(at start (Sheetsize ?sheet Letter))
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(at start (Location ?sheet HtmOverBlack_Exit-Down_TopEntry)))
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:effect (and
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(at start (not (Location ?sheet HtmOverBlack_Exit-Down_TopEntry)))
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(at end (Timepoint ?sheet Down-MoveDown-Letter-T1)))
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)
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(:durative-action Down-MoveDown-Letter-1
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:parameters ( ?sheet - sheet_t)
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:duration (= ?duration 1)
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:condition (and
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(at start (Timepoint ?sheet Down-MoveDown-Letter-T1))
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(at start (Available Down_BottomExitNip-RSRC)))
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|
|
:effect (and
|
||
|
|
(at start (not (Timepoint ?sheet Down-MoveDown-Letter-T1)))
|
||
|
|
(at start (not (Available Down_BottomExitNip-RSRC)))
|
||
|
|
(at start (Hasallrsrcs ?sheet Down-MoveDown-Letter))
|
||
|
|
(at end (Location ?sheet ColorContainer_Entry-Down_BottomExit)))
|
||
|
|
)
|
||
|
|
(:durative-action Down-MoveDown-Letter-2
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 2458)
|
||
|
|
:condition (and
|
||
|
|
(at start (Hasallrsrcs ?sheet Down-MoveDown-Letter)))
|
||
|
|
:effect (and
|
||
|
|
|
||
|
|
(at end (Available Down_BottomExitNip-RSRC))
|
||
|
|
(at end (not (Hasallrsrcs ?sheet Down-MoveDown-Letter))))
|
||
|
|
)
|
||
|
|
(:durative-action HtmOverColor-Move-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 9999)
|
||
|
|
:condition (and
|
||
|
|
(at start (Sheetsize ?sheet Letter))
|
||
|
|
(at start (Location ?sheet Down_TopExit-HtmOverColor_Entry)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Location ?sheet Down_TopExit-HtmOverColor_Entry)))
|
||
|
|
(at end (Location ?sheet HtmOverColor_Exit-Up_TopEntry)))
|
||
|
|
)
|
||
|
|
(:durative-action BlackContainer-ToIME-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 2000)
|
||
|
|
:condition (and
|
||
|
|
(at start (Sheetsize ?sheet Letter))
|
||
|
|
(at start (Location ?sheet BlackContainer_Entry-BlackFeeder_Exit)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Location ?sheet BlackContainer_Entry-BlackFeeder_Exit)))
|
||
|
|
(at end (Location ?sheet BlackContainer_ExitToIME-BlackPrinter_Entry)))
|
||
|
|
)
|
||
|
|
(:durative-action BlackContainer-FromIME-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 2000)
|
||
|
|
:condition (and
|
||
|
|
(at start (Sheetsize ?sheet Letter))
|
||
|
|
(at start (Location ?sheet BlackPrinter_Exit-BlackContainer_EntryFromIME)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Location ?sheet BlackPrinter_Exit-BlackContainer_EntryFromIME)))
|
||
|
|
(at end (Location ?sheet EndCap_Entry-BlackContainer_Exit)))
|
||
|
|
)
|
||
|
|
(:durative-action BlackPrinter-Simplex-Letter-0
|
||
|
|
:parameters ( ?sheet - sheet_t ?face - side_t ?image - image_t)
|
||
|
|
:duration (= ?duration 13013)
|
||
|
|
:condition (and
|
||
|
|
(at start (Sheetsize ?sheet Letter))
|
||
|
|
(at start (Sideup ?sheet ?face))
|
||
|
|
(at start (Imagecolor ?image Black))
|
||
|
|
(at start (Location ?sheet BlackContainer_ExitToIME-BlackPrinter_Entry))
|
||
|
|
(at start (Notprintedwith ?sheet ?face Black))
|
||
|
|
(at start (Available BlackPrinter_Drum-RSRC)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Location ?sheet BlackContainer_ExitToIME-BlackPrinter_Entry)))
|
||
|
|
(at start (not (Notprintedwith ?sheet ?face Black)))
|
||
|
|
(at start (not (Available BlackPrinter_Drum-RSRC)))
|
||
|
|
(at start (Hasallrsrcs ?sheet BlackPrinter-Simplex-Letter))
|
||
|
|
(at end (Location ?sheet BlackPrinter_Exit-BlackContainer_EntryFromIME))
|
||
|
|
(at end (Hasimage ?sheet ?face ?image)))
|
||
|
|
)
|
||
|
|
(:durative-action BlackPrinter-Simplex-Letter-1
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 4000)
|
||
|
|
:condition (and
|
||
|
|
(at start (Hasallrsrcs ?sheet BlackPrinter-Simplex-Letter)))
|
||
|
|
:effect (and
|
||
|
|
|
||
|
|
(at end (Available BlackPrinter_Drum-RSRC))
|
||
|
|
(at end (not (Hasallrsrcs ?sheet BlackPrinter-Simplex-Letter))))
|
||
|
|
)
|
||
|
|
(:durative-action BlackPrinter-SimplexAndInvert-Letter-0
|
||
|
|
:parameters ( ?sheet - sheet_t ?face - side_t ?otherface - side_t ?image - image_t)
|
||
|
|
:duration (= ?duration 23013)
|
||
|
|
:condition (and
|
||
|
|
(at start (Sheetsize ?sheet Letter))
|
||
|
|
(at start (Oppositeside ?face ?otherface))
|
||
|
|
(at start (Imagecolor ?image Black))
|
||
|
|
(at start (Location ?sheet BlackContainer_ExitToIME-BlackPrinter_Entry))
|
||
|
|
(at start (Notprintedwith ?sheet ?face Black))
|
||
|
|
(at start (Sideup ?sheet ?face))
|
||
|
|
(at start (Available BlackPrinter_Drum-RSRC)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Location ?sheet BlackContainer_ExitToIME-BlackPrinter_Entry)))
|
||
|
|
(at start (not (Notprintedwith ?sheet ?face Black)))
|
||
|
|
(at start (not (Sideup ?sheet ?face)))
|
||
|
|
(at start (not (Available BlackPrinter_Drum-RSRC)))
|
||
|
|
(at start (Hasallrsrcs ?sheet BlackPrinter-SimplexAndInvert-Letter))
|
||
|
|
(at start (Sideup ?sheet ?otherface))
|
||
|
|
(at end (Location ?sheet BlackPrinter_Exit-BlackContainer_EntryFromIME))
|
||
|
|
(at end (Hasimage ?sheet ?face ?image)))
|
||
|
|
)
|
||
|
|
(:durative-action BlackPrinter-SimplexAndInvert-Letter-1
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 4000)
|
||
|
|
:condition (and
|
||
|
|
(at start (Hasallrsrcs ?sheet BlackPrinter-SimplexAndInvert-Letter)))
|
||
|
|
:effect (and
|
||
|
|
|
||
|
|
(at end (Available BlackPrinter_Drum-RSRC))
|
||
|
|
(at end (not (Hasallrsrcs ?sheet BlackPrinter-SimplexAndInvert-Letter))))
|
||
|
|
)
|
||
|
|
(:durative-action Up-MoveTop-Letter-0
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 2999)
|
||
|
|
:condition (and
|
||
|
|
(at start (Sheetsize ?sheet Letter))
|
||
|
|
(at start (Location ?sheet HtmOverColor_Exit-Up_TopEntry)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Location ?sheet HtmOverColor_Exit-Up_TopEntry)))
|
||
|
|
(at end (Timepoint ?sheet Up-MoveTop-Letter-T1)))
|
||
|
|
)
|
||
|
|
(:durative-action Up-MoveTop-Letter-1
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 1)
|
||
|
|
:condition (and
|
||
|
|
(at start (Timepoint ?sheet Up-MoveTop-Letter-T1))
|
||
|
|
(at start (Available Up_TopExitNip-RSRC)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Timepoint ?sheet Up-MoveTop-Letter-T1)))
|
||
|
|
(at start (not (Available Up_TopExitNip-RSRC)))
|
||
|
|
(at start (Hasallrsrcs ?sheet Up-MoveTop-Letter))
|
||
|
|
(at end (Location ?sheet Finisher1_Entry-Up_TopExit)))
|
||
|
|
)
|
||
|
|
(:durative-action Up-MoveTop-Letter-2
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 2458)
|
||
|
|
:condition (and
|
||
|
|
(at start (Hasallrsrcs ?sheet Up-MoveTop-Letter)))
|
||
|
|
:effect (and
|
||
|
|
|
||
|
|
(at end (Available Up_TopExitNip-RSRC))
|
||
|
|
(at end (not (Hasallrsrcs ?sheet Up-MoveTop-Letter))))
|
||
|
|
)
|
||
|
|
(:durative-action Up-MoveUp-Letter-0
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 9999)
|
||
|
|
:condition (and
|
||
|
|
(at start (Sheetsize ?sheet Letter))
|
||
|
|
(at start (Location ?sheet ColorContainer_Exit-Up_BottomEntry)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Location ?sheet ColorContainer_Exit-Up_BottomEntry)))
|
||
|
|
(at end (Timepoint ?sheet Up-MoveUp-Letter-T1)))
|
||
|
|
)
|
||
|
|
(:durative-action Up-MoveUp-Letter-1
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 1)
|
||
|
|
:condition (and
|
||
|
|
(at start (Timepoint ?sheet Up-MoveUp-Letter-T1))
|
||
|
|
(at start (Available Up_TopExitNip-RSRC)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Timepoint ?sheet Up-MoveUp-Letter-T1)))
|
||
|
|
(at start (not (Available Up_TopExitNip-RSRC)))
|
||
|
|
(at start (Hasallrsrcs ?sheet Up-MoveUp-Letter))
|
||
|
|
(at end (Location ?sheet Finisher1_Entry-Up_TopExit)))
|
||
|
|
)
|
||
|
|
(:durative-action Up-MoveUp-Letter-2
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 2458)
|
||
|
|
:condition (and
|
||
|
|
(at start (Hasallrsrcs ?sheet Up-MoveUp-Letter)))
|
||
|
|
:effect (and
|
||
|
|
|
||
|
|
(at end (Available Up_TopExitNip-RSRC))
|
||
|
|
(at end (not (Hasallrsrcs ?sheet Up-MoveUp-Letter))))
|
||
|
|
)
|
||
|
|
(:durative-action Finisher1-PassThrough-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 8000)
|
||
|
|
:condition (and
|
||
|
|
(at start (Sheetsize ?sheet Letter))
|
||
|
|
(at start (Location ?sheet Finisher1_Entry-Up_TopExit)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Location ?sheet Finisher1_Entry-Up_TopExit)))
|
||
|
|
(at end (Location ?sheet Finisher2_Entry-Finisher1_Exit)))
|
||
|
|
)
|
||
|
|
(:durative-action Finisher1-Stack-Letter-0
|
||
|
|
:parameters ( ?sheet - sheet_t ?prevsheet - sheet_t)
|
||
|
|
:duration (= ?duration 8000)
|
||
|
|
:condition (and
|
||
|
|
(at start (Prevsheet ?sheet ?prevsheet))
|
||
|
|
(at start (Location ?prevsheet Some_Finisher_Tray))
|
||
|
|
(at start (Sheetsize ?sheet Letter))
|
||
|
|
(at start (Location ?sheet Finisher1_Entry-Up_TopExit))
|
||
|
|
(at start (Available Finisher1_EntryNip-RSRC)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Location ?sheet Finisher1_Entry-Up_TopExit)))
|
||
|
|
(at start (not (Available Finisher1_EntryNip-RSRC)))
|
||
|
|
(at start (Hasallrsrcs ?sheet Finisher1-Stack-Letter))
|
||
|
|
(at end (Location ?sheet Some_Finisher_Tray))
|
||
|
|
(at end (Stackedin ?sheet Finisher1_Tray)))
|
||
|
|
)
|
||
|
|
(:durative-action Finisher1-Stack-Letter-1
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 2158)
|
||
|
|
:condition (and
|
||
|
|
(at start (Hasallrsrcs ?sheet Finisher1-Stack-Letter)))
|
||
|
|
:effect (and
|
||
|
|
|
||
|
|
(at end (Available Finisher1_EntryNip-RSRC))
|
||
|
|
(at end (not (Hasallrsrcs ?sheet Finisher1-Stack-Letter))))
|
||
|
|
)
|
||
|
|
(:durative-action Finisher2-PassThrough-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 8000)
|
||
|
|
:condition (and
|
||
|
|
(at start (Sheetsize ?sheet Letter))
|
||
|
|
(at start (Location ?sheet Finisher2_Entry-Finisher1_Exit)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Location ?sheet Finisher2_Entry-Finisher1_Exit)))
|
||
|
|
(at end (Location ?sheet Finisher2_Exit)))
|
||
|
|
)
|
||
|
|
(:durative-action Finisher2-Stack-Letter-0
|
||
|
|
:parameters ( ?sheet - sheet_t ?prevsheet - sheet_t)
|
||
|
|
:duration (= ?duration 8000)
|
||
|
|
:condition (and
|
||
|
|
(at start (Prevsheet ?sheet ?prevsheet))
|
||
|
|
(at start (Location ?prevsheet Some_Finisher_Tray))
|
||
|
|
(at start (Sheetsize ?sheet Letter))
|
||
|
|
(at start (Location ?sheet Finisher2_Entry-Finisher1_Exit))
|
||
|
|
(at start (Available Finisher2_EntryNip-RSRC)))
|
||
|
|
:effect (and
|
||
|
|
(at start (not (Location ?sheet Finisher2_Entry-Finisher1_Exit)))
|
||
|
|
(at start (not (Available Finisher2_EntryNip-RSRC)))
|
||
|
|
(at start (Hasallrsrcs ?sheet Finisher2-Stack-Letter))
|
||
|
|
(at end (Location ?sheet Some_Finisher_Tray))
|
||
|
|
(at end (Stackedin ?sheet Finisher2_Tray)))
|
||
|
|
)
|
||
|
|
(:durative-action Finisher2-Stack-Letter-1
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:duration (= ?duration 2158)
|
||
|
|
:condition (and
|
||
|
|
(at start (Hasallrsrcs ?sheet Finisher2-Stack-Letter)))
|
||
|
|
:effect (and
|
||
|
|
|
||
|
|
(at end (Available Finisher2_EntryNip-RSRC))
|
||
|
|
(at end (not (Hasallrsrcs ?sheet Finisher2-Stack-Letter))))
|
||
|
|
)
|
||
|
|
)
|
||
|
|
|
||
|
|
|