output

rm -f  HashTree.o HashTreePlanner.o Functions.o Curses.o Action.o Arguments.o Domain.o global.o main.o PredicatesAndPropositions.o Problem.o Planner.o GroundAction.o State.o StochasticDomain.o GroundActionWithCost.o ActionCostState.o CostPlanner.o StateEvaluation.o UnexpandedStack.o pddl+.o  iPlanner lex.yy.cc pddl+.cc pddl+.hh
flex++ pddl+.lex ; bison pddl+.yacc -o pddl+.cc
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ HashTree.cc -c -o HashTree.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ HashTreePlanner.cc -c -o HashTreePlanner.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ Functions.cc -c -o Functions.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ Curses.cc -c -o Curses.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ Action.cc -c -o Action.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ Arguments.cc -c -o Arguments.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ Domain.cc -c -o Domain.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ global.cc -c -o global.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ main.cc -c -o main.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ PredicatesAndPropositions.cc -c -o PredicatesAndPropositions.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ Problem.cc -c -o Problem.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ Planner.cc -c -o Planner.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ GroundAction.cc -c -o GroundAction.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ State.cc -c -o State.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ StochasticDomain.cc -c -o StochasticDomain.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ GroundActionWithCost.cc -c -o GroundActionWithCost.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ ActionCostState.cc -c -o ActionCostState.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ CostPlanner.cc -c -o CostPlanner.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ StateEvaluation.cc -c -o StateEvaluation.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ UnexpandedStack.cc -c -o UnexpandedStack.o
ccache g++  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ pddl+.cc -c -o pddl+.o
ccache g++  -o iPlanner HashTree.o HashTreePlanner.o Functions.o Curses.o Action.o Arguments.o Domain.o global.o main.o PredicatesAndPropositions.o Problem.o Planner.o GroundAction.o State.o StochasticDomain.o GroundActionWithCost.o ActionCostState.o CostPlanner.o StateEvaluation.o UnexpandedStack.o pddl+.o  -ggdb -DNWITH_CURSES -DPARSER_DEBUG -I. -I/home/charlesg/downloads/boost_1_34_0/ -L/usr/ -lfl -lcurses 
1
 WE FOUND PLAN :: cost = 6 :: (push-unitarypipe s12 b0 a1 a2 b5 oc1b oca1 ta1-1-oc1b ta2-1-oca1)(  prec[ (not-occupied ta2-1-oca1) (tank-slot-product-location ta2-1-oca1 oca1 a2) (occupied ta1-1-oc1b) (tank-slot-product-location ta1-1-oc1b oc1b a1) (may-interface oc1b oca1) (is-product b5 oca1) (is-product b0 oc1b) (unitary s12) (on b0 a1) (connect a1 a2 s12) (first b5 s12) ]  add[ (first b0 s12) (last b0 s12) (not-occupied ta1-1-oc1b) (on b5 a2) (occupied ta2-1-oca1) ]  del[ (first b5 s12) (last b5 s12) (on b0 a1) (occupied ta1-1-oc1b) (not-occupied ta2-1-oca1) ]  ) (push-unitarypipe s12 b5 a1 a2 b4 oca1 lco ta1-1-oca1 ta2-1-lco)(  prec[ (not-occupied ta2-1-lco) (tank-slot-product-location ta2-1-lco lco a2) (occupied ta1-1-oca1) (tank-slot-product-location ta1-1-oca1 oca1 a1) (may-interface oca1 lco) (is-product b4 lco) (is-product b5 oca1) (unitary s12) (on b5 a1) (connect a1 a2 s12) (first b4 s12) ]  add[ (first b5 s12) (last b5 s12) (not-occupied ta1-1-oca1) (on b4 a2) (occupied ta2-1-lco) ]  del[ (first b4 s12) (last b4 s12) (on b5 a1) (occupied ta1-1-oca1) (not-occupied ta2-1-lco) ]  ) (pop-unitarypipe s13 b1 a1 a3 b5 lco oca1 ta1-1-oca1 ta3-1-lco)(  prec[ (not-occupied ta1-1-oca1) (tank-slot-product-location ta1-1-oca1 oca1 a1) (occupied ta3-1-lco) (tank-slot-product-location ta3-1-lco lco a3) (may-interface lco oca1) (is-product b5 oca1) (is-product b1 lco) (unitary s13) (on b1 a3) (connect a1 a3 s13) (first b5 s13) ]  add[ (last b1 s13) (first b1 s13) (not-occupied ta3-1-lco) (on b5 a1) (occupied ta1-1-oca1) ]  del[ (last b5 s13) (first b5 s13) (on b1 a3) (occupied ta3-1-lco) (not-occupied ta1-1-oca1) ]  ) (pop-unitarypipe s13 b5 a1 a3 b0 oca1 oc1b ta1-1-oc1b ta3-1-oca1)(  prec[ (not-occupied ta1-1-oc1b) (tank-slot-product-location ta1-1-oc1b oc1b a1) (occupied ta3-1-oca1) (tank-slot-product-location ta3-1-oca1 oca1 a3) (may-interface oca1 oc1b) (is-product b0 oc1b) (is-product b5 oca1) (unitary s13) (on b5 a3) (connect a1 a3 s13) (first b0 s13) ]  add[ (last b5 s13) (first b5 s13) (not-occupied ta3-1-oca1) (on b0 a1) (occupied ta1-1-oc1b) ]  del[ (last b0 s13) (first b0 s13) (on b5 a3) (occupied ta3-1-oca1) (not-occupied ta1-1-oc1b) ]  ) (push-unitarypipe s13 b0 a1 a3 b2 oc1b gasoleo ta1-1-oc1b ta3-1-gasoleo)(  prec[ (not-occupied ta3-1-gasoleo) (tank-slot-product-location ta3-1-gasoleo gasoleo a3) (occupied ta1-1-oc1b) (tank-slot-product-location ta1-1-oc1b oc1b a1) (may-interface oc1b gasoleo) (is-product b2 gasoleo) (is-product b0 oc1b) (unitary s13) (on b0 a1) (connect a1 a3 s13) (first b2 s13) ]  add[ (first b0 s13) (last b0 s13) (not-occupied ta1-1-oc1b) (on b2 a3) (occupied ta3-1-gasoleo) ]  del[ (first b2 s13) (last b2 s13) (on b0 a1) (occupied ta1-1-oc1b) (not-occupied ta3-1-gasoleo) ]  ) (push-unitarypipe s13 b2 a1 a3 b5 gasoleo oca1 ta1-1-gasoleo ta3-1-oca1)(  prec[ (not-occupied ta3-1-oca1) (tank-slot-product-location ta3-1-oca1 oca1 a3) (occupied ta1-1-gasoleo) (tank-slot-product-location ta1-1-gasoleo gasoleo a1) (may-interface gasoleo oca1) (is-product b5 oca1) (is-product b2 gasoleo) (unitary s13) (on b2 a1) (connect a1 a3 s13) (first b5 s13) ]  add[ (first b2 s13) (last b2 s13) (not-occupied ta1-1-gasoleo) (on b5 a3) (occupied ta3-1-oca1) ]  del[ (first b5 s13) (last b5 s13) (on b2 a1) (occupied ta1-1-gasoleo) (not-occupied ta3-1-oca1) ]  )
2
 WE FOUND PLAN :: (push-unitarypipe s12 b0 a1 a2 b5 oc1b oca1 ta1-1-oc1b ta2-1-oca1)(  prec[ (not-occupied ta2-1-oca1) (tank-slot-product-location ta2-1-oca1 oca1 a2) (occupied ta1-1-oc1b) (tank-slot-product-location ta1-1-oc1b oc1b a1) (may-interface oc1b oca1) (is-product b5 oca1) (is-product b0 oc1b) (unitary s12) (on b0 a1) (connect a1 a2 s12) (first b5 s12) ]  add[ (first b0 s12) (last b0 s12) (not-occupied ta1-1-oc1b) (on b5 a2) (occupied ta2-1-oca1) ]  del[ (first b5 s12) (last b5 s12) (on b0 a1) (occupied ta1-1-oc1b) (not-occupied ta2-1-oca1) ]  ) (push-unitarypipe s12 b5 a1 a2 b4 oca1 lco ta1-1-oca1 ta2-1-lco)(  prec[ (not-occupied ta2-1-lco) (tank-slot-product-location ta2-1-lco lco a2) (occupied ta1-1-oca1) (tank-slot-product-location ta1-1-oca1 oca1 a1) (may-interface oca1 lco) (is-product b4 lco) (is-product b5 oca1) (unitary s12) (on b5 a1) (connect a1 a2 s12) (first b4 s12) ]  add[ (first b5 s12) (last b5 s12) (not-occupied ta1-1-oca1) (on b4 a2) (occupied ta2-1-lco) ]  del[ (first b4 s12) (last b4 s12) (on b5 a1) (occupied ta1-1-oca1) (not-occupied ta2-1-lco) ]  ) (pop-unitarypipe s12 b4 a1 a2 b3 lco rat-a ta1-1-rat-a ta2-1-lco)(  prec[ (not-occupied ta1-1-rat-a) (tank-slot-product-location ta1-1-rat-a rat-a a1) (occupied ta2-1-lco) (tank-slot-product-location ta2-1-lco lco a2) (may-interface lco rat-a) (is-product b3 rat-a) (is-product b4 lco) (unitary s12) (on b4 a2) (connect a1 a2 s12) (first b3 s12) ]  add[ (last b4 s12) (first b4 s12) (not-occupied ta2-1-lco) (on b3 a1) (occupied ta1-1-rat-a) ]  del[ (last b3 s12) (first b3 s12) (on b4 a2) (occupied ta2-1-lco) (not-occupied ta1-1-rat-a) ]  ) (pop-unitarypipe s13 b1 a1 a3 b5 lco oca1 ta1-1-oca1 ta3-1-lco)(  prec[ (not-occupied ta1-1-oca1) (tank-slot-product-location ta1-1-oca1 oca1 a1) (occupied ta3-1-lco) (tank-slot-product-location ta3-1-lco lco a3) (may-interface lco oca1) (is-product b5 oca1) (is-product b1 lco) (unitary s13) (on b1 a3) (connect a1 a3 s13) (first b5 s13) ]  add[ (last b1 s13) (first b1 s13) (not-occupied ta3-1-lco) (on b5 a1) (occupied ta1-1-oca1) ]  del[ (last b5 s13) (first b5 s13) (on b1 a3) (occupied ta3-1-lco) (not-occupied ta1-1-oca1) ]  ) (pop-unitarypipe s13 b5 a1 a3 b0 oca1 oc1b ta1-1-oc1b ta3-1-oca1)(  prec[ (not-occupied ta1-1-oc1b) (tank-slot-product-location ta1-1-oc1b oc1b a1) (occupied ta3-1-oca1) (tank-slot-product-location ta3-1-oca1 oca1 a3) (may-interface oca1 oc1b) (is-product b0 oc1b) (is-product b5 oca1) (unitary s13) (on b5 a3) (connect a1 a3 s13) (first b0 s13) ]  add[ (last b5 s13) (first b5 s13) (not-occupied ta3-1-oca1) (on b0 a1) (occupied ta1-1-oc1b) ]  del[ (last b0 s13) (first b0 s13) (on b5 a3) (occupied ta3-1-oca1) (not-occupied ta1-1-oc1b) ]  ) (push-unitarypipe s12 b3 a1 a2 b4 rat-a lco ta1-1-rat-a ta2-1-lco)(  prec[ (not-occupied ta2-1-lco) (tank-slot-product-location ta2-1-lco lco a2) (occupied ta1-1-rat-a) (tank-slot-product-location ta1-1-rat-a rat-a a1) (may-interface rat-a lco) (is-product b4 lco) (is-product b3 rat-a) (unitary s12) (on b3 a1) (connect a1 a2 s12) (first b4 s12) ]  add[ (first b3 s12) (last b3 s12) (not-occupied ta1-1-rat-a) (on b4 a2) (occupied ta2-1-lco) ]  del[ (first b4 s12) (last b4 s12) (on b3 a1) (occupied ta1-1-rat-a) (not-occupied ta2-1-lco) ]  ) (push-unitarypipe s13 b0 a1 a3 b2 oc1b gasoleo ta1-1-oc1b ta3-1-gasoleo)(  prec[ (not-occupied ta3-1-gasoleo) (tank-slot-product-location ta3-1-gasoleo gasoleo a3) (occupied ta1-1-oc1b) (tank-slot-product-location ta1-1-oc1b oc1b a1) (may-interface oc1b gasoleo) (is-product b2 gasoleo) (is-product b0 oc1b) (unitary s13) (on b0 a1) (connect a1 a3 s13) (first b2 s13) ]  add[ (first b0 s13) (last b0 s13) (not-occupied ta1-1-oc1b) (on b2 a3) (occupied ta3-1-gasoleo) ]  del[ (first b2 s13) (last b2 s13) (on b0 a1) (occupied ta1-1-oc1b) (not-occupied ta3-1-gasoleo) ]  ) (push-unitarypipe s13 b2 a1 a3 b5 gasoleo oca1 ta1-1-gasoleo ta3-1-oca1)(  prec[ (not-occupied ta3-1-oca1) (tank-slot-product-location ta3-1-oca1 oca1 a3) (occupied ta1-1-gasoleo) (tank-slot-product-location ta1-1-gasoleo gasoleo a1) (may-interface gasoleo oca1) (is-product b5 oca1) (is-product b2 gasoleo) (unitary s13) (on b2 a1) (connect a1 a3 s13) (first b5 s13) ]  add[ (first b2 s13) (last b2 s13) (not-occupied ta1-1-gasoleo) (on b5 a3) (occupied ta3-1-oca1) ]  del[ (first b5 s13) (last b5 s13) (on b2 a1) (occupied ta1-1-gasoleo) (not-occupied ta3-1-oca1) ]  )
3
 WE FOUND PLAN :: cost = 12 :: (stack d c)(  prec[ (clear c) (holding d) ]  add[ (clear d) (handempty ) (on d c) ]  del[ (holding d) (clear c) ]  ) (pick-up d)(  prec[ (handempty ) (on-table d) (clear d) ]  add[ (holding d) ]  del[ (on-table d) (clear d) (handempty ) ]  ) (stack c b)(  prec[ (clear b) (holding c) ]  add[ (clear c) (handempty ) (on c b) ]  del[ (holding c) (clear b) ]  ) (pick-up c)(  prec[ (handempty ) (on-table c) (clear c) ]  add[ (holding c) ]  del[ (on-table c) (clear c) (handempty ) ]  ) (stack b a)(  prec[ (clear a) (holding b) ]  add[ (clear b) (handempty ) (on b a) ]  del[ (holding b) (clear a) ]  ) (pick-up b)(  prec[ (handempty ) (on-table b) (clear b) ]  add[ (holding b) ]  del[ (on-table b) (clear b) (handempty ) ]  )
4
 WE FOUND PLAN :: (stack d c)(  prec[ (clear c) (holding d) ]  add[ (clear d) (handempty ) (on d c) ]  del[ (holding d) (clear c) ]  ) (pick-up d)(  prec[ (handempty ) (on-table d) (clear d) ]  add[ (holding d) ]  del[ (on-table d) (clear d) (handempty ) ]  ) (stack c b)(  prec[ (clear b) (holding c) ]  add[ (clear c) (handempty ) (on c b) ]  del[ (holding c) (clear b) ]  ) (pick-up c)(  prec[ (handempty ) (on-table c) (clear c) ]  add[ (holding c) ]  del[ (on-table c) (clear c) (handempty ) ]  ) (stack b a)(  prec[ (clear a) (holding b) ]  add[ (clear b) (handempty ) (on b a) ]  del[ (holding b) (clear a) ]  ) (pick-up b)(  prec[ (handempty ) (on-table b) (clear b) ]  add[ (holding b) ]  del[ (on-table b) (clear b) (handempty ) ]  )
5
 WE FOUND PLAN :: cost = 24 :: (communicate_soil_data rover0 general waypoint2 waypoint2 waypoint0)(  prec[ (channel_free general) (available rover0) (visible waypoint2 waypoint0) (have_soil_analysis rover0 waypoint2) (at_lander general waypoint0) (at rover0 waypoint2) ]  add[ (channel_free general) (communicated_soil_data waypoint2) (available rover0) ]  del[ (available rover0) (channel_free general) ]  ) (sample_soil rover0 rover0store waypoint2)(  prec[ (empty rover0store) (store_of rover0store rover0) (equipped_for_soil_analysis rover0) (at_soil_sample waypoint2) (at rover0 waypoint2) ]  add[ (full rover0store) (have_soil_analysis rover0 waypoint2) ]  del[ (empty rover0store) (at_soil_sample waypoint2) ]  ) (communicate_image_data rover0 general objective1 high_res waypoint2 waypoint0)(  prec[ (channel_free general) (available rover0) (visible waypoint2 waypoint0) (have_image rover0 objective1 high_res) (at_lander general waypoint0) (at rover0 waypoint2) ]  add[ (channel_free general) (communicated_image_data objective1 high_res) (available rover0) ]  del[ (available rover0) (channel_free general) ]  ) (take_image rover0 waypoint2 objective1 camera0 high_res)(  prec[ (at rover0 waypoint2) (visible_from objective1 waypoint2) (supports camera0 high_res) (equipped_for_imaging rover0) (on_board camera0 rover0) (calibrated camera0 rover0) ]  add[ (have_image rover0 objective1 high_res) ]  del[ (calibrated camera0 rover0) ]  ) (calibrate rover0 camera0 objective1 waypoint2)(  prec[ (on_board camera0 rover0) (visible_from objective1 waypoint2) (at rover0 waypoint2) (calibration_target camera0 objective1) (equipped_for_imaging rover0) ]  add[ (calibrated camera0 rover0) ]  del[  ]  ) (drop rover0 rover0store)(  prec[ (full rover0store) (store_of rover0store rover0) ]  add[ (empty rover0store) ]  del[ (full rover0store) ]  ) (navigate rover0 waypoint1 waypoint2)(  prec[ (visible waypoint1 waypoint2) (at rover0 waypoint1) (available rover0) (can_traverse rover0 waypoint1 waypoint2) ]  add[ (at rover0 waypoint2) ]  del[ (at rover0 waypoint1) ]  ) (navigate rover0 waypoint3 waypoint1)(  prec[ (visible waypoint3 waypoint1) (at rover0 waypoint3) (available rover0) (can_traverse rover0 waypoint3 waypoint1) ]  add[ (at rover0 waypoint1) ]  del[ (at rover0 waypoint3) ]  ) (communicate_rock_data rover0 general waypoint3 waypoint3 waypoint0)(  prec[ (channel_free general) (available rover0) (visible waypoint3 waypoint0) (have_rock_analysis rover0 waypoint3) (at_lander general waypoint0) (at rover0 waypoint3) ]  add[ (channel_free general) (communicated_rock_data waypoint3) (available rover0) ]  del[ (available rover0) (channel_free general) ]  ) (sample_rock rover0 rover0store waypoint3)(  prec[ (empty rover0store) (store_of rover0store rover0) (equipped_for_rock_analysis rover0) (at_rock_sample waypoint3) (at rover0 waypoint3) ]  add[ (full rover0store) (have_rock_analysis rover0 waypoint3) ]  del[ (empty rover0store) (at_rock_sample waypoint3) ]  )
6
 WE FOUND PLAN :: (communicate_image_data rover0 general objective1 high_res waypoint1 waypoint0)(  prec[ (channel_free general) (available rover0) (visible waypoint1 waypoint0) (have_image rover0 objective1 high_res) (at_lander general waypoint0) (at rover0 waypoint1) ]  add[ (channel_free general) (communicated_image_data objective1 high_res) (available rover0) ]  del[ (available rover0) (channel_free general) ]  ) (take_image rover0 waypoint1 objective1 camera0 high_res)(  prec[ (at rover0 waypoint1) (visible_from objective1 waypoint1) (supports camera0 high_res) (equipped_for_imaging rover0) (on_board camera0 rover0) (calibrated camera0 rover0) ]  add[ (have_image rover0 objective1 high_res) ]  del[ (calibrated camera0 rover0) ]  ) (navigate rover0 waypoint2 waypoint1)(  prec[ (visible waypoint2 waypoint1) (at rover0 waypoint2) (available rover0) (can_traverse rover0 waypoint2 waypoint1) ]  add[ (at rover0 waypoint1) ]  del[ (at rover0 waypoint2) ]  ) (calibrate rover0 camera0 objective1 waypoint2)(  prec[ (on_board camera0 rover0) (visible_from objective1 waypoint2) (at rover0 waypoint2) (calibration_target camera0 objective1) (equipped_for_imaging rover0) ]  add[ (calibrated camera0 rover0) ]  del[  ]  ) (communicate_soil_data rover0 general waypoint2 waypoint2 waypoint0)(  prec[ (channel_free general) (available rover0) (visible waypoint2 waypoint0) (have_soil_analysis rover0 waypoint2) (at_lander general waypoint0) (at rover0 waypoint2) ]  add[ (channel_free general) (communicated_soil_data waypoint2) (available rover0) ]  del[ (available rover0) (channel_free general) ]  ) (sample_soil rover0 rover0store waypoint2)(  prec[ (empty rover0store) (store_of rover0store rover0) (equipped_for_soil_analysis rover0) (at_soil_sample waypoint2) (at rover0 waypoint2) ]  add[ (full rover0store) (have_soil_analysis rover0 waypoint2) ]  del[ (empty rover0store) (at_soil_sample waypoint2) ]  ) (take_image rover0 waypoint2 objective0 camera0 colour)(  prec[ (at rover0 waypoint2) (visible_from objective0 waypoint2) (supports camera0 colour) (equipped_for_imaging rover0) (on_board camera0 rover0) (calibrated camera0 rover0) ]  add[ (have_image rover0 objective0 colour) ]  del[ (calibrated camera0 rover0) ]  ) (calibrate rover0 camera0 objective1 waypoint2)(  prec[ (on_board camera0 rover0) (visible_from objective1 waypoint2) (at rover0 waypoint2) (calibration_target camera0 objective1) (equipped_for_imaging rover0) ]  add[ (calibrated camera0 rover0) ]  del[  ]  ) (drop rover0 rover0store)(  prec[ (full rover0store) (store_of rover0store rover0) ]  add[ (empty rover0store) ]  del[ (full rover0store) ]  ) (navigate rover0 waypoint1 waypoint2)(  prec[ (visible waypoint1 waypoint2) (at rover0 waypoint1) (available rover0) (can_traverse rover0 waypoint1 waypoint2) ]  add[ (at rover0 waypoint2) ]  del[ (at rover0 waypoint1) ]  ) (navigate rover0 waypoint3 waypoint1)(  prec[ (visible waypoint3 waypoint1) (at rover0 waypoint3) (available rover0) (can_traverse rover0 waypoint3 waypoint1) ]  add[ (at rover0 waypoint1) ]  del[ (at rover0 waypoint3) ]  ) (communicate_rock_data rover0 general waypoint3 waypoint3 waypoint0)(  prec[ (channel_free general) (available rover0) (visible waypoint3 waypoint0) (have_rock_analysis rover0 waypoint3) (at_lander general waypoint0) (at rover0 waypoint3) ]  add[ (channel_free general) (communicated_rock_data waypoint3) (available rover0) ]  del[ (available rover0) (channel_free general) ]  ) (sample_rock rover0 rover0store waypoint3)(  prec[ (empty rover0store) (store_of rover0store rover0) (equipped_for_rock_analysis rover0) (at_rock_sample waypoint3) (at rover0 waypoint3) ]  add[ (full rover0store) (have_rock_analysis rover0 waypoint3) ]  del[ (empty rover0store) (at_rock_sample waypoint3) ]  )
7
 WE FOUND PLAN :: cost = 31 :: (unload tru1 obj21 pos1)(  prec[ (in obj21 tru1) (at tru1 pos1) ]  add[ (at obj21 pos1) ]  del[ (in obj21 tru1) ]  ) (drive tru1 apt1 pos1 cit1)(  prec[ (in-city pos1 cit1) (in-city apt1 cit1) (at tru1 apt1) ]  add[ (at tru1 pos1) ]  del[ (at tru1 apt1) ]  ) (load tru1 obj21 apt1)(  prec[ (at obj21 apt1) (at tru1 apt1) ]  add[ (in obj21 tru1) ]  del[ (at obj21 apt1) ]  ) (unload apn1 obj21 apt1)(  prec[ (in obj21 apn1) (at apn1 apt1) ]  add[ (at obj21 apt1) ]  del[ (in obj21 apn1) ]  ) (load tru1 obj23 apt1)(  prec[ (at obj23 apt1) (at tru1 apt1) ]  add[ (in obj23 tru1) ]  del[ (at obj23 apt1) ]  ) (unload apn1 obj23 apt1)(  prec[ (in obj23 apn1) (at apn1 apt1) ]  add[ (at obj23 apt1) ]  del[ (in obj23 apn1) ]  ) (fly apn1 apt2 apt1)(  prec[ (at apn1 apt2) ]  add[ (at apn1 apt1) ]  del[ (at apn1 apt2) ]  ) (load apn1 obj21 apt2)(  prec[ (at obj21 apt2) (at apn1 apt2) ]  add[ (in obj21 apn1) ]  del[ (at obj21 apt2) ]  ) (load apn1 obj23 apt2)(  prec[ (at obj23 apt2) (at apn1 apt2) ]  add[ (in obj23 apn1) ]  del[ (at obj23 apt2) ]  ) (unload tru2 obj23 apt2)(  prec[ (in obj23 tru2) (at tru2 apt2) ]  add[ (at obj23 apt2) ]  del[ (in obj23 tru2) ]  ) (unload tru2 obj21 apt2)(  prec[ (in obj21 tru2) (at tru2 apt2) ]  add[ (at obj21 apt2) ]  del[ (in obj21 tru2) ]  ) (drive tru2 pos2 apt2 cit2)(  prec[ (in-city apt2 cit2) (in-city pos2 cit2) (at tru2 pos2) ]  add[ (at tru2 apt2) ]  del[ (at tru2 pos2) ]  ) (unload tru1 obj13 apt1)(  prec[ (in obj13 tru1) (at tru1 apt1) ]  add[ (at obj13 apt1) ]  del[ (in obj13 tru1) ]  ) (load tru2 obj21 pos2)(  prec[ (at obj21 pos2) (at tru2 pos2) ]  add[ (in obj21 tru2) ]  del[ (at obj21 pos2) ]  ) (unload tru1 obj11 apt1)(  prec[ (in obj11 tru1) (at tru1 apt1) ]  add[ (at obj11 apt1) ]  del[ (in obj11 tru1) ]  ) (load tru2 obj23 pos2)(  prec[ (at obj23 pos2) (at tru2 pos2) ]  add[ (in obj23 tru2) ]  del[ (at obj23 pos2) ]  ) (drive tru1 pos1 apt1 cit1)(  prec[ (in-city apt1 cit1) (in-city pos1 cit1) (at tru1 pos1) ]  add[ (at tru1 apt1) ]  del[ (at tru1 pos1) ]  ) (load tru1 obj13 pos1)(  prec[ (at obj13 pos1) (at tru1 pos1) ]  add[ (in obj13 tru1) ]  del[ (at obj13 pos1) ]  ) (load tru1 obj11 pos1)(  prec[ (at obj11 pos1) (at tru1 pos1) ]  add[ (in obj11 tru1) ]  del[ (at obj11 pos1) ]  )
8
 WE FOUND PLAN :: (unload tru1 obj21 pos1)(  prec[ (in obj21 tru1) (at tru1 pos1) ]  add[ (at obj21 pos1) ]  del[ (in obj21 tru1) ]  ) (drive tru1 apt1 pos1 cit1)(  prec[ (in-city pos1 cit1) (in-city apt1 cit1) (at tru1 apt1) ]  add[ (at tru1 pos1) ]  del[ (at tru1 apt1) ]  ) (fly apn1 apt1 apt2)(  prec[ (at apn1 apt1) ]  add[ (at apn1 apt2) ]  del[ (at apn1 apt1) ]  ) (drive tru2 apt2 pos2 cit2)(  prec[ (in-city pos2 cit2) (in-city apt2 cit2) (at tru2 apt2) ]  add[ (at tru2 pos2) ]  del[ (at tru2 apt2) ]  ) (unload tru2 obj22 apt2)(  prec[ (in obj22 tru2) (at tru2 apt2) ]  add[ (at obj22 apt2) ]  del[ (in obj22 tru2) ]  ) (load tru1 obj21 apt1)(  prec[ (at obj21 apt1) (at tru1 apt1) ]  add[ (in obj21 tru1) ]  del[ (at obj21 apt1) ]  ) (drive tru1 pos1 apt1 cit1)(  prec[ (in-city apt1 cit1) (in-city pos1 cit1) (at tru1 pos1) ]  add[ (at tru1 apt1) ]  del[ (at tru1 pos1) ]  ) (unload apn1 obj21 apt1)(  prec[ (in obj21 apn1) (at apn1 apt1) ]  add[ (at obj21 apt1) ]  del[ (in obj21 apn1) ]  ) (fly apn1 apt2 apt1)(  prec[ (at apn1 apt2) ]  add[ (at apn1 apt1) ]  del[ (at apn1 apt2) ]  ) (load apn1 obj21 apt2)(  prec[ (at obj21 apt2) (at apn1 apt2) ]  add[ (in obj21 apn1) ]  del[ (at obj21 apt2) ]  ) (fly apn1 apt1 apt2)(  prec[ (at apn1 apt1) ]  add[ (at apn1 apt2) ]  del[ (at apn1 apt1) ]  ) (unload tru2 obj21 apt2)(  prec[ (in obj21 tru2) (at tru2 apt2) ]  add[ (at obj21 apt2) ]  del[ (in obj21 tru2) ]  ) (drive tru2 pos2 apt2 cit2)(  prec[ (in-city apt2 cit2) (in-city pos2 cit2) (at tru2 pos2) ]  add[ (at tru2 apt2) ]  del[ (at tru2 pos2) ]  ) (load tru2 obj22 pos2)(  prec[ (at obj22 pos2) (at tru2 pos2) ]  add[ (in obj22 tru2) ]  del[ (at obj22 pos2) ]  ) (drive tru2 apt2 pos2 cit2)(  prec[ (in-city pos2 cit2) (in-city apt2 cit2) (at tru2 apt2) ]  add[ (at tru2 pos2) ]  del[ (at tru2 apt2) ]  ) (unload tru1 obj23 pos1)(  prec[ (in obj23 tru1) (at tru1 pos1) ]  add[ (at obj23 pos1) ]  del[ (in obj23 tru1) ]  ) (drive tru1 apt1 pos1 cit1)(  prec[ (in-city pos1 cit1) (in-city apt1 cit1) (at tru1 apt1) ]  add[ (at tru1 pos1) ]  del[ (at tru1 apt1) ]  ) (load tru1 obj23 apt1)(  prec[ (at obj23 apt1) (at tru1 apt1) ]  add[ (in obj23 tru1) ]  del[ (at obj23 apt1) ]  ) (unload apn1 obj23 apt1)(  prec[ (in obj23 apn1) (at apn1 apt1) ]  add[ (at obj23 apt1) ]  del[ (in obj23 apn1) ]  ) (drive tru2 pos2 apt2 cit2)(  prec[ (in-city apt2 cit2) (in-city pos2 cit2) (at tru2 pos2) ]  add[ (at tru2 apt2) ]  del[ (at tru2 pos2) ]  ) (fly apn1 apt2 apt1)(  prec[ (at apn1 apt2) ]  add[ (at apn1 apt1) ]  del[ (at apn1 apt2) ]  ) (load apn1 obj23 apt2)(  prec[ (at obj23 apt2) (at apn1 apt2) ]  add[ (in obj23 apn1) ]  del[ (at obj23 apt2) ]  ) (drive tru2 apt2 pos2 cit2)(  prec[ (in-city pos2 cit2) (in-city apt2 cit2) (at tru2 apt2) ]  add[ (at tru2 pos2) ]  del[ (at tru2 apt2) ]  ) (unload tru2 obj23 apt2)(  prec[ (in obj23 tru2) (at tru2 apt2) ]  add[ (at obj23 apt2) ]  del[ (in obj23 tru2) ]  ) (drive tru2 pos2 apt2 cit2)(  prec[ (in-city apt2 cit2) (in-city pos2 cit2) (at tru2 pos2) ]  add[ (at tru2 apt2) ]  del[ (at tru2 pos2) ]  ) (unload tru1 obj13 apt1)(  prec[ (in obj13 tru1) (at tru1 apt1) ]  add[ (at obj13 apt1) ]  del[ (in obj13 tru1) ]  ) (drive tru1 pos1 apt1 cit1)(  prec[ (in-city apt1 cit1) (in-city pos1 cit1) (at tru1 pos1) ]  add[ (at tru1 apt1) ]  del[ (at tru1 pos1) ]  ) (load tru2 obj21 pos2)(  prec[ (at obj21 pos2) (at tru2 pos2) ]  add[ (in obj21 tru2) ]  del[ (at obj21 pos2) ]  ) (load tru2 obj23 pos2)(  prec[ (at obj23 pos2) (at tru2 pos2) ]  add[ (in obj23 tru2) ]  del[ (at obj23 pos2) ]  ) (load tru1 obj13 pos1)(  prec[ (at obj13 pos1) (at tru1 pos1) ]  add[ (in obj13 tru1) ]  del[ (at obj13 pos1) ]  ) (drive tru1 apt1 pos1 cit1)(  prec[ (in-city pos1 cit1) (in-city apt1 cit1) (at tru1 apt1) ]  add[ (at tru1 pos1) ]  del[ (at tru1 apt1) ]  ) (unload tru1 obj11 apt1)(  prec[ (in obj11 tru1) (at tru1 apt1) ]  add[ (at obj11 apt1) ]  del[ (in obj11 tru1) ]  ) (drive tru1 pos1 apt1 cit1)(  prec[ (in-city apt1 cit1) (in-city pos1 cit1) (at tru1 pos1) ]  add[ (at tru1 apt1) ]  del[ (at tru1 pos1) ]  ) (load tru1 obj11 pos1)(  prec[ (at obj11 pos1) (at tru1 pos1) ]  add[ (in obj11 tru1) ]  del[ (at obj11 pos1) ]  )
9
 WE FOUND PLAN :: cost = 5 :: (drop hoist0 crate0 depot0-1-1 loadarea depot0)(  prec[ (in depot0-1-1 depot0) (clear depot0-1-1) (lifting hoist0 crate0) (at hoist0 loadarea) (connected depot0-1-1 loadarea) ]  add[ (available hoist0) (on crate0 depot0-1-1) (in crate0 depot0) ]  del[ (lifting hoist0 crate0) (clear depot0-1-1) ]  ) (lift hoist0 crate0 container-0-0 loadarea container0)(  prec[ (in container-0-0 container0) (on crate0 container-0-0) (available hoist0) (at hoist0 loadarea) (connected container-0-0 loadarea) ]  add[ (clear container-0-0) (lifting hoist0 crate0) ]  del[ (on crate0 container-0-0) (available hoist0) (in crate0 container0) ]  ) (go-out hoist0 depot0-1-1 loadarea)(  prec[ (connected depot0-1-1 loadarea) (at hoist0 depot0-1-1) ]  add[ (at hoist0 loadarea) (clear depot0-1-1) ]  del[ (at hoist0 depot0-1-1) ]  )
10
 WE FOUND PLAN :: (drop hoist0 crate0 depot0-1-1 loadarea depot0)(  prec[ (in depot0-1-1 depot0) (clear depot0-1-1) (lifting hoist0 crate0) (at hoist0 loadarea) (connected depot0-1-1 loadarea) ]  add[ (available hoist0) (on crate0 depot0-1-1) (in crate0 depot0) ]  del[ (lifting hoist0 crate0) (clear depot0-1-1) ]  ) (lift hoist0 crate0 container-0-0 loadarea container0)(  prec[ (in container-0-0 container0) (on crate0 container-0-0) (available hoist0) (at hoist0 loadarea) (connected container-0-0 loadarea) ]  add[ (clear container-0-0) (lifting hoist0 crate0) ]  del[ (on crate0 container-0-0) (available hoist0) (in crate0 container0) ]  ) (go-out hoist0 depot0-1-1 loadarea)(  prec[ (connected depot0-1-1 loadarea) (at hoist0 depot0-1-1) ]  add[ (at hoist0 loadarea) (clear depot0-1-1) ]  del[ (at hoist0 depot0-1-1) ]  )
11
 WE FOUND PLAN :: cost = 25 :: (take_image satellite0 star5 instrument0 thermograph0)(  prec[ (power_on instrument0) (pointing satellite0 star5) (power_on instrument0) (supports instrument0 thermograph0) (on_board instrument0 satellite0) (calibrated instrument0) ]  add[ (have_image star5 thermograph0) ]  del[  ]  ) (turn_to satellite0 star5 phenomenon4)(  prec[ (pointing satellite0 phenomenon4) ]  add[ (pointing satellite0 star5) ]  del[ (pointing satellite0 phenomenon4) ]  ) (take_image satellite0 phenomenon4 instrument0 thermograph0)(  prec[ (power_on instrument0) (pointing satellite0 phenomenon4) (power_on instrument0) (supports instrument0 thermograph0) (on_board instrument0 satellite0) (calibrated instrument0) ]  add[ (have_image phenomenon4 thermograph0) ]  del[  ]  ) (turn_to satellite0 phenomenon4 phenomenon6)(  prec[ (pointing satellite0 phenomenon6) ]  add[ (pointing satellite0 phenomenon4) ]  del[ (pointing satellite0 phenomenon6) ]  ) (take_image satellite0 phenomenon6 instrument0 thermograph0)(  prec[ (power_on instrument0) (pointing satellite0 phenomenon6) (power_on instrument0) (supports instrument0 thermograph0) (on_board instrument0 satellite0) (calibrated instrument0) ]  add[ (have_image phenomenon6 thermograph0) ]  del[  ]  ) (turn_to satellite0 phenomenon6 groundstation2)(  prec[ (pointing satellite0 groundstation2) ]  add[ (pointing satellite0 phenomenon6) ]  del[ (pointing satellite0 groundstation2) ]  ) (calibrate satellite0 instrument0 groundstation2)(  prec[ (power_on instrument0) (pointing satellite0 groundstation2) (calibration_target instrument0 groundstation2) (on_board instrument0 satellite0) ]  add[ (calibrated instrument0) ]  del[  ]  ) (turn_to satellite0 groundstation2 phenomenon6)(  prec[ (pointing satellite0 phenomenon6) ]  add[ (pointing satellite0 groundstation2) ]  del[ (pointing satellite0 phenomenon6) ]  ) (switch_on instrument0 satellite0)(  prec[ (power_avail satellite0) (on_board instrument0 satellite0) ]  add[ (power_on instrument0) ]  del[ (calibrated instrument0) (power_avail satellite0) ]  )
12
 WE FOUND PLAN :: (take_image satellite0 star5 instrument0 thermograph0)(  prec[ (power_on instrument0) (pointing satellite0 star5) (power_on instrument0) (supports instrument0 thermograph0) (on_board instrument0 satellite0) (calibrated instrument0) ]  add[ (have_image star5 thermograph0) ]  del[  ]  ) (turn_to satellite0 star5 groundstation1)(  prec[ (pointing satellite0 groundstation1) ]  add[ (pointing satellite0 star5) ]  del[ (pointing satellite0 groundstation1) ]  ) (take_image satellite0 groundstation1 instrument0 thermograph0)(  prec[ (power_on instrument0) (pointing satellite0 groundstation1) (power_on instrument0) (supports instrument0 thermograph0) (on_board instrument0 satellite0) (calibrated instrument0) ]  add[ (have_image groundstation1 thermograph0) ]  del[  ]  ) (turn_to satellite0 groundstation1 phenomenon4)(  prec[ (pointing satellite0 phenomenon4) ]  add[ (pointing satellite0 groundstation1) ]  del[ (pointing satellite0 phenomenon4) ]  ) (take_image satellite0 phenomenon4 instrument0 thermograph0)(  prec[ (power_on instrument0) (pointing satellite0 phenomenon4) (power_on instrument0) (supports instrument0 thermograph0) (on_board instrument0 satellite0) (calibrated instrument0) ]  add[ (have_image phenomenon4 thermograph0) ]  del[  ]  ) (turn_to satellite0 phenomenon4 phenomenon6)(  prec[ (pointing satellite0 phenomenon6) ]  add[ (pointing satellite0 phenomenon4) ]  del[ (pointing satellite0 phenomenon6) ]  ) (take_image satellite0 phenomenon6 instrument0 thermograph0)(  prec[ (power_on instrument0) (pointing satellite0 phenomenon6) (power_on instrument0) (supports instrument0 thermograph0) (on_board instrument0 satellite0) (calibrated instrument0) ]  add[ (have_image phenomenon6 thermograph0) ]  del[  ]  ) (turn_to satellite0 phenomenon6 groundstation2)(  prec[ (pointing satellite0 groundstation2) ]  add[ (pointing satellite0 phenomenon6) ]  del[ (pointing satellite0 groundstation2) ]  ) (calibrate satellite0 instrument0 groundstation2)(  prec[ (power_on instrument0) (pointing satellite0 groundstation2) (calibration_target instrument0 groundstation2) (on_board instrument0 satellite0) ]  add[ (calibrated instrument0) ]  del[  ]  ) (turn_to satellite0 groundstation2 phenomenon6)(  prec[ (pointing satellite0 phenomenon6) ]  add[ (pointing satellite0 groundstation2) ]  del[ (pointing satellite0 phenomenon6) ]  ) (switch_on instrument0 satellite0)(  prec[ (power_avail satellite0) (on_board instrument0 satellite0) ]  add[ (power_on instrument0) ]  del[ (calibrated instrument0) (power_avail satellite0) ]  )
13
 WE FOUND PLAN :: cost = 8 :: (pop-unitarypipe s12 b0 a1 a2 b5 rat-a gasoleo ta1-2-gasoleo ta2-1-rat-a)(  prec[ (not-occupied ta1-2-gasoleo) (tank-slot-product-location ta1-2-gasoleo gasoleo a1) (occupied ta2-1-rat-a) (tank-slot-product-location ta2-1-rat-a rat-a a2) (may-interface rat-a gasoleo) (is-product b5 gasoleo) (is-product b0 rat-a) (unitary s12) (on b0 a2) (connect a1 a2 s12) (first b5 s12) ]  add[ (last b0 s12) (first b0 s12) (not-occupied ta2-1-rat-a) (on b5 a1) (occupied ta1-2-gasoleo) ]  del[ (last b5 s12) (first b5 s12) (on b0 a2) (occupied ta2-1-rat-a) (not-occupied ta1-2-gasoleo) ]  ) (pop-unitarypipe s12 b5 a1 a2 b9 gasoleo oc1b ta1-1-oc1b ta2-1-gasoleo)(  prec[ (not-occupied ta1-1-oc1b) (tank-slot-product-location ta1-1-oc1b oc1b a1) (occupied ta2-1-gasoleo) (tank-slot-product-location ta2-1-gasoleo gasoleo a2) (may-interface gasoleo oc1b) (is-product b9 oc1b) (is-product b5 gasoleo) (unitary s12) (on b5 a2) (connect a1 a2 s12) (first b9 s12) ]  add[ (last b5 s12) (first b5 s12) (not-occupied ta2-1-gasoleo) (on b9 a1) (occupied ta1-1-oc1b) ]  del[ (last b9 s12) (first b9 s12) (on b5 a2) (occupied ta2-1-gasoleo) (not-occupied ta1-1-oc1b) ]  ) (pop-unitarypipe s12 b9 a1 a2 b8 oc1b lco ta1-2-lco ta2-1-oc1b)(  prec[ (not-occupied ta1-2-lco) (tank-slot-product-location ta1-2-lco lco a1) (occupied ta2-1-oc1b) (tank-slot-product-location ta2-1-oc1b oc1b a2) (may-interface oc1b lco) (is-product b8 lco) (is-product b9 oc1b) (unitary s12) (on b9 a2) (connect a1 a2 s12) (first b8 s12) ]  add[ (last b9 s12) (first b9 s12) (not-occupied ta2-1-oc1b) (on b8 a1) (occupied ta1-2-lco) ]  del[ (last b8 s12) (first b8 s12) (on b9 a2) (occupied ta2-1-oc1b) (not-occupied ta1-2-lco) ]  ) (push-unitarypipe s12 b8 a1 a2 b7 lco gasoleo ta1-1-lco ta2-1-gasoleo)(  prec[ (not-occupied ta2-1-gasoleo) (tank-slot-product-location ta2-1-gasoleo gasoleo a2) (occupied ta1-1-lco) (tank-slot-product-location ta1-1-lco lco a1) (may-interface lco gasoleo) (is-product b7 gasoleo) (is-product b8 lco) (unitary s12) (on b8 a1) (connect a1 a2 s12) (first b7 s12) ]  add[ (first b8 s12) (last b8 s12) (not-occupied ta1-1-lco) (on b7 a2) (occupied ta2-1-gasoleo) ]  del[ (first b7 s12) (last b7 s12) (on b8 a1) (occupied ta1-1-lco) (not-occupied ta2-1-gasoleo) ]  ) (push-unitarypipe s13 b4 a1 a3 b6 lco rat-a ta1-2-lco ta3-1-rat-a)(  prec[ (not-occupied ta3-1-rat-a) (tank-slot-product-location ta3-1-rat-a rat-a a3) (occupied ta1-2-lco) (tank-slot-product-location ta1-2-lco lco a1) (may-interface lco rat-a) (is-product b6 rat-a) (is-product b4 lco) (unitary s13) (on b4 a1) (connect a1 a3 s13) (first b6 s13) ]  add[ (first b4 s13) (last b4 s13) (not-occupied ta1-2-lco) (on b6 a3) (occupied ta3-1-rat-a) ]  del[ (first b6 s13) (last b6 s13) (on b4 a1) (occupied ta1-2-lco) (not-occupied ta3-1-rat-a) ]  ) (push-unitarypipe s12 b7 a1 a2 b5 gasoleo gasoleo ta1-1-gasoleo ta2-2-gasoleo)(  prec[ (not-occupied ta2-2-gasoleo) (tank-slot-product-location ta2-2-gasoleo gasoleo a2) (occupied ta1-1-gasoleo) (tank-slot-product-location ta1-1-gasoleo gasoleo a1) (may-interface gasoleo gasoleo) (is-product b5 gasoleo) (is-product b7 gasoleo) (unitary s12) (on b7 a1) (connect a1 a2 s12) (first b5 s12) ]  add[ (first b7 s12) (last b7 s12) (not-occupied ta1-1-gasoleo) (on b5 a2) (occupied ta2-2-gasoleo) ]  del[ (first b5 s12) (last b5 s12) (on b7 a1) (occupied ta1-1-gasoleo) (not-occupied ta2-2-gasoleo) ]  ) (push-unitarypipe s13 b6 a1 a3 b2 rat-a gasoleo ta1-1-rat-a ta3-2-gasoleo)(  prec[ (not-occupied ta3-2-gasoleo) (tank-slot-product-location ta3-2-gasoleo gasoleo a3) (occupied ta1-1-rat-a) (tank-slot-product-location ta1-1-rat-a rat-a a1) (may-interface rat-a gasoleo) (is-product b2 gasoleo) (is-product b6 rat-a) (unitary s13) (on b6 a1) (connect a1 a3 s13) (first b2 s13) ]  add[ (first b6 s13) (last b6 s13) (not-occupied ta1-1-rat-a) (on b2 a3) (occupied ta3-2-gasoleo) ]  del[ (first b2 s13) (last b2 s13) (on b6 a1) (occupied ta1-1-rat-a) (not-occupied ta3-2-gasoleo) ]  ) (pop-unitarypipe s12 b5 a1 a2 b6 gasoleo rat-a ta1-1-rat-a ta2-1-gasoleo)(  prec[ (not-occupied ta1-1-rat-a) (tank-slot-product-location ta1-1-rat-a rat-a a1) (occupied ta2-1-gasoleo) (tank-slot-product-location ta2-1-gasoleo gasoleo a2) (may-interface gasoleo rat-a) (is-product b6 rat-a) (is-product b5 gasoleo) (unitary s12) (on b5 a2) (connect a1 a2 s12) (first b6 s12) ]  add[ (last b5 s12) (first b5 s12) (not-occupied ta2-1-gasoleo) (on b6 a1) (occupied ta1-1-rat-a) ]  del[ (last b6 s12) (first b6 s12) (on b5 a2) (occupied ta2-1-gasoleo) (not-occupied ta1-1-rat-a) ]  )
14
 WE FOUND PLAN :: (pop-unitarypipe s12 b8 a1 a2 b9 lco oc1b ta1-1-oc1b ta2-1-lco)(  prec[ (not-occupied ta1-1-oc1b) (tank-slot-product-location ta1-1-oc1b oc1b a1) (occupied ta2-1-lco) (tank-slot-product-location ta2-1-lco lco a2) (may-interface lco oc1b) (is-product b9 oc1b) (is-product b8 lco) (unitary s12) (on b8 a2) (connect a1 a2 s12) (first b9 s12) ]  add[ (last b8 s12) (first b8 s12) (not-occupied ta2-1-lco) (on b9 a1) (occupied ta1-1-oc1b) ]  del[ (last b9 s12) (first b9 s12) (on b8 a2) (occupied ta2-1-lco) (not-occupied ta1-1-oc1b) ]  ) (pop-unitarypipe s12 b9 a1 a2 b4 oc1b lco ta1-2-lco ta2-1-oc1b)(  prec[ (not-occupied ta1-2-lco) (tank-slot-product-location ta1-2-lco lco a1) (occupied ta2-1-oc1b) (tank-slot-product-location ta2-1-oc1b oc1b a2) (may-interface oc1b lco) (is-product b4 lco) (is-product b9 oc1b) (unitary s12) (on b9 a2) (connect a1 a2 s12) (first b4 s12) ]  add[ (last b9 s12) (first b9 s12) (not-occupied ta2-1-oc1b) (on b4 a1) (occupied ta1-2-lco) ]  del[ (last b4 s12) (first b4 s12) (on b9 a2) (occupied ta2-1-oc1b) (not-occupied ta1-2-lco) ]  ) (push-unitarypipe s12 b4 a1 a2 b7 lco gasoleo ta1-1-lco ta2-1-gasoleo)(  prec[ (not-occupied ta2-1-gasoleo) (tank-slot-product-location ta2-1-gasoleo gasoleo a2) (occupied ta1-1-lco) (tank-slot-product-location ta1-1-lco lco a1) (may-interface lco gasoleo) (is-product b7 gasoleo) (is-product b4 lco) (unitary s12) (on b4 a1) (connect a1 a2 s12) (first b7 s12) ]  add[ (first b4 s12) (last b4 s12) (not-occupied ta1-1-lco) (on b7 a2) (occupied ta2-1-gasoleo) ]  del[ (first b7 s12) (last b7 s12) (on b4 a1) (occupied ta1-1-lco) (not-occupied ta2-1-gasoleo) ]  ) (push-unitarypipe s12 b7 a1 a2 b8 gasoleo lco ta1-1-gasoleo ta2-1-lco)(  prec[ (not-occupied ta2-1-lco) (tank-slot-product-location ta2-1-lco lco a2) (occupied ta1-1-gasoleo) (tank-slot-product-location ta1-1-gasoleo gasoleo a1) (may-interface gasoleo lco) (is-product b8 lco) (is-product b7 gasoleo) (unitary s12) (on b7 a1) (connect a1 a2 s12) (first b8 s12) ]  add[ (first b7 s12) (last b7 s12) (not-occupied ta1-1-gasoleo) (on b8 a2) (occupied ta2-1-lco) ]  del[ (first b8 s12) (last b8 s12) (on b7 a1) (occupied ta1-1-gasoleo) (not-occupied ta2-1-lco) ]  ) (pop-unitarypipe s13 b1 a1 a3 b4 gasoleo lco ta1-1-lco ta3-2-gasoleo)(  prec[ (not-occupied ta1-1-lco) (tank-slot-product-location ta1-1-lco lco a1) (occupied ta3-2-gasoleo) (tank-slot-product-location ta3-2-gasoleo gasoleo a3) (may-interface gasoleo lco) (is-product b4 lco) (is-product b1 gasoleo) (unitary s13) (on b1 a3) (connect a1 a3 s13) (first b4 s13) ]  add[ (last b1 s13) (first b1 s13) (not-occupied ta3-2-gasoleo) (on b4 a1) (occupied ta1-1-lco) ]  del[ (last b4 s13) (first b4 s13) (on b1 a3) (occupied ta3-2-gasoleo) (not-occupied ta1-1-lco) ]  ) (pop-unitarypipe s13 b4 a1 a3 b7 lco gasoleo ta1-2-gasoleo ta3-1-lco)(  prec[ (not-occupied ta1-2-gasoleo) (tank-slot-product-location ta1-2-gasoleo gasoleo a1) (occupied ta3-1-lco) (tank-slot-product-location ta3-1-lco lco a3) (may-interface lco gasoleo) (is-product b7 gasoleo) (is-product b4 lco) (unitary s13) (on b4 a3) (connect a1 a3 s13) (first b7 s13) ]  add[ (last b4 s13) (first b4 s13) (not-occupied ta3-1-lco) (on b7 a1) (occupied ta1-2-gasoleo) ]  del[ (last b7 s13) (first b7 s13) (on b4 a3) (occupied ta3-1-lco) (not-occupied ta1-2-gasoleo) ]  ) (push-unitarypipe s13 b7 a1 a3 b6 gasoleo rat-a ta1-2-gasoleo ta3-1-rat-a)(  prec[ (not-occupied ta3-1-rat-a) (tank-slot-product-location ta3-1-rat-a rat-a a3) (occupied ta1-2-gasoleo) (tank-slot-product-location ta1-2-gasoleo gasoleo a1) (may-interface gasoleo rat-a) (is-product b6 rat-a) (is-product b7 gasoleo) (unitary s13) (on b7 a1) (connect a1 a3 s13) (first b6 s13) ]  add[ (first b7 s13) (last b7 s13) (not-occupied ta1-2-gasoleo) (on b6 a3) (occupied ta3-1-rat-a) ]  del[ (first b6 s13) (last b6 s13) (on b7 a1) (occupied ta1-2-gasoleo) (not-occupied ta3-1-rat-a) ]  ) (push-unitarypipe s13 b6 a1 a3 b2 rat-a gasoleo ta1-1-rat-a ta3-1-gasoleo)(  prec[ (not-occupied ta3-1-gasoleo) (tank-slot-product-location ta3-1-gasoleo gasoleo a3) (occupied ta1-1-rat-a) (tank-slot-product-location ta1-1-rat-a rat-a a1) (may-interface rat-a gasoleo) (is-product b2 gasoleo) (is-product b6 rat-a) (unitary s13) (on b6 a1) (connect a1 a3 s13) (first b2 s13) ]  add[ (first b6 s13) (last b6 s13) (not-occupied ta1-1-rat-a) (on b2 a3) (occupied ta3-1-gasoleo) ]  del[ (first b2 s13) (last b2 s13) (on b6 a1) (occupied ta1-1-rat-a) (not-occupied ta3-1-gasoleo) ]  ) (push-unitarypipe s12 b8 a1 a2 b0 lco rat-a ta1-1-lco ta2-1-rat-a)(  prec[ (not-occupied ta2-1-rat-a) (tank-slot-product-location ta2-1-rat-a rat-a a2) (occupied ta1-1-lco) (tank-slot-product-location ta1-1-lco lco a1) (may-interface lco rat-a) (is-product b0 rat-a) (is-product b8 lco) (unitary s12) (on b8 a1) (connect a1 a2 s12) (first b0 s12) ]  add[ (first b8 s12) (last b8 s12) (not-occupied ta1-1-lco) (on b0 a2) (occupied ta2-1-rat-a) ]  del[ (first b0 s12) (last b0 s12) (on b8 a1) (occupied ta1-1-lco) (not-occupied ta2-1-rat-a) ]  ) (pop-unitarypipe s12 b0 a1 a2 b5 rat-a gasoleo ta1-2-gasoleo ta2-1-rat-a)(  prec[ (not-occupied ta1-2-gasoleo) (tank-slot-product-location ta1-2-gasoleo gasoleo a1) (occupied ta2-1-rat-a) (tank-slot-product-location ta2-1-rat-a rat-a a2) (may-interface rat-a gasoleo) (is-product b5 gasoleo) (is-product b0 rat-a) (unitary s12) (on b0 a2) (connect a1 a2 s12) (first b5 s12) ]  add[ (last b0 s12) (first b0 s12) (not-occupied ta2-1-rat-a) (on b5 a1) (occupied ta1-2-gasoleo) ]  del[ (last b5 s12) (first b5 s12) (on b0 a2) (occupied ta2-1-rat-a) (not-occupied ta1-2-gasoleo) ]  ) (pop-unitarypipe s12 b5 a1 a2 b6 gasoleo rat-a ta1-1-rat-a ta2-1-gasoleo)(  prec[ (not-occupied ta1-1-rat-a) (tank-slot-product-location ta1-1-rat-a rat-a a1) (occupied ta2-1-gasoleo) (tank-slot-product-location ta2-1-gasoleo gasoleo a2) (may-interface gasoleo rat-a) (is-product b6 rat-a) (is-product b5 gasoleo) (unitary s12) (on b5 a2) (connect a1 a2 s12) (first b6 s12) ]  add[ (last b5 s12) (first b5 s12) (not-occupied ta2-1-gasoleo) (on b6 a1) (occupied ta1-1-rat-a) ]  del[ (last b6 s12) (first b6 s12) (on b5 a2) (occupied ta2-1-gasoleo) (not-occupied ta1-1-rat-a) ]  ) (push-unitarypipe s13 b2 a1 a3 b4 gasoleo lco ta1-2-gasoleo ta3-1-lco)(  prec[ (not-occupied ta3-1-lco) (tank-slot-product-location ta3-1-lco lco a3) (occupied ta1-2-gasoleo) (tank-slot-product-location ta1-2-gasoleo gasoleo a1) (may-interface gasoleo lco) (is-product b4 lco) (is-product b2 gasoleo) (unitary s13) (on b2 a1) (connect a1 a3 s13) (first b4 s13) ]  add[ (first b2 s13) (last b2 s13) (not-occupied ta1-2-gasoleo) (on b4 a3) (occupied ta3-1-lco) ]  del[ (first b4 s13) (last b4 s13) (on b2 a1) (occupied ta1-2-gasoleo) (not-occupied ta3-1-lco) ]  ) (push-unitarypipe s13 b4 a1 a3 b1 lco gasoleo ta1-2-lco ta3-2-gasoleo)(  prec[ (not-occupied ta3-2-gasoleo) (tank-slot-product-location ta3-2-gasoleo gasoleo a3) (occupied ta1-2-lco) (tank-slot-product-location ta1-2-lco lco a1) (may-interface lco gasoleo) (is-product b1 gasoleo) (is-product b4 lco) (unitary s13) (on b4 a1) (connect a1 a3 s13) (first b1 s13) ]  add[ (first b4 s13) (last b4 s13) (not-occupied ta1-2-lco) (on b1 a3) (occupied ta3-2-gasoleo) ]  del[ (first b1 s13) (last b1 s13) (on b4 a1) (occupied ta1-2-lco) (not-occupied ta3-2-gasoleo) ]  ) (pop-unitarypipe s13 b1 a1 a3 b2 gasoleo gasoleo ta1-2-gasoleo ta3-1-gasoleo)(  prec[ (not-occupied ta1-2-gasoleo) (tank-slot-product-location ta1-2-gasoleo gasoleo a1) (occupied ta3-1-gasoleo) (tank-slot-product-location ta3-1-gasoleo gasoleo a3) (may-interface gasoleo gasoleo) (is-product b2 gasoleo) (is-product b1 gasoleo) (unitary s13) (on b1 a3) (connect a1 a3 s13) (first b2 s13) ]  add[ (last b1 s13) (first b1 s13) (not-occupied ta3-1-gasoleo) (on b2 a1) (occupied ta1-2-gasoleo) ]  del[ (last b2 s13) (first b2 s13) (on b1 a3) (occupied ta3-1-gasoleo) (not-occupied ta1-2-gasoleo) ]  )
15
 WE FOUND PLAN :: cost = 357 :: (debark person1 plane1 city2)(  prec[ (at plane1 city2) (in person1 plane1) ]  add[ (at person1 city2) ]  del[ (in person1 plane1) ]  ) (zoom plane1 city3 city2 fl0 fl1 fl2)(  prec[ (next fl1 fl2) (next fl0 fl1) (fuel-level plane1 fl2) (at plane1 city3) ]  add[ (at plane1 city2) (fuel-level plane1 fl0) ]  del[ (at plane1 city3) (fuel-level plane1 fl2) ]  ) (board person1 plane1 city3)(  prec[ (at plane1 city3) (at person1 city3) ]  add[ (in person1 plane1) ]  del[ (at person1 city3) ]  ) (debark person3 plane1 city3)(  prec[ (at plane1 city3) (in person3 plane1) ]  add[ (at person3 city3) ]  del[ (in person3 plane1) ]  ) (debark person2 plane1 city3)(  prec[ (at plane1 city3) (in person2 plane1) ]  add[ (at person2 city3) ]  del[ (in person2 plane1) ]  ) (debark person4 plane1 city3)(  prec[ (at plane1 city3) (in person4 plane1) ]  add[ (at person4 city3) ]  del[ (in person4 plane1) ]  ) (fly plane1 city0 city3 fl2 fl3)(  prec[ (next fl2 fl3) (fuel-level plane1 fl3) (at plane1 city0) ]  add[ (at plane1 city3) (fuel-level plane1 fl2) ]  del[ (at plane1 city0) (fuel-level plane1 fl3) ]  ) (board person2 plane1 city0)(  prec[ (at plane1 city0) (at person2 city0) ]  add[ (in person2 plane1) ]  del[ (at person2 city0) ]  ) (board person3 plane1 city0)(  prec[ (at plane1 city0) (at person3 city0) ]  add[ (in person3 plane1) ]  del[ (at person3 city0) ]  ) (zoom plane1 city1 city0 fl3 fl4 fl5)(  prec[ (next fl4 fl5) (next fl3 fl4) (fuel-level plane1 fl5) (at plane1 city1) ]  add[ (at plane1 city0) (fuel-level plane1 fl3) ]  del[ (at plane1 city1) (fuel-level plane1 fl5) ]  ) (board person4 plane1 city1)(  prec[ (at plane1 city1) (at person4 city1) ]  add[ (in person4 plane1) ]  del[ (at person4 city1) ]  )