/* Simple Translog, August, 1999. ***************************************** Written in: OCLh Originator: Donghong Liu Aug 99 Updated: Lee McCLuskey Sept 99 Derived from Univ. of Maryland's literal-based specification This model captures the object structure and actions in a "transport logistics" domain where packages have to be transported around different locations in different cities, using trucks and trains */ /*********************** sort hierarchy *****************************/ domain_name(translog4). sorts(non_primitive_sorts, [ location, city_location,tcentre,not_tcentre, route, physical_obj, vehicle, railv]). sorts(primitive_sorts, [ airport, aircraft, train_station, post_office, clocation, city, package, train, traincar, truck, road_route, rail_route, region]). sorts(physical_obj, [vehicle, package]). sorts(vehicle, [railv,truck,aircraft]). sorts(railv, [traincar,train]). sorts(location, [city_location,city,airport]). sorts(city_location, [tcentre,not_tcentre]). sorts(tcentre, [train_station]). sorts(not_tcentre, [clocation,post_office]). sorts(route, [road_route, rail_route]). objects(aircraft,[ac1,ac2,ac3,ac4,ac5,ac6,ac7,ac8,ac9,ac10,ac11,ac12, ac13,ac14,ac15,ac16]). objects(airport, [ap1, ap2, ap3, ap4 ]). objects(train_station, [ city1_ts1_x,city2_ts1_x,city3_ts1_x, city1_ts1_y,city2_ts1_y,city3_ts1_y, city1_ts1_z,city2_ts1_z,city3_ts1_z, city1_ts1,city2_ts1,city3_ts1]). objects(clocation, [ city1_cl1_x,city1_cl2_x,city2_cl1_x,city3_cl1_x, city1_cl1_y,city1_cl2_y,city2_cl1_y,city3_cl1_y, city1_cl1_z,city1_cl2_z,city2_cl1_z,city3_cl1_z, city1_cl1,city1_cl2,city2_cl1,city3_cl1]). objects(post_office, [ post_1]). objects(city, [ city1_x, city2_x, city3_x, city1_y, city2_y, city3_y, city1_z, city2_z, city3_z, city1, city2, city3]). objects(train,[ train1_x,train2_x, train1_z,train2_z, train1_y,train2_y, train1,train2]). objects(traincar,[ traincar1_x, traincar1_z, traincar1_y, traincar1]). objects(road_route, [ road_route_21_x,road_route_32_x, road_route_31_x , road_route_21_z,road_route_32_z, road_route_31_z , road_route_21_y,road_route_32_y, road_route_31_y , road_route_21,road_route_32, road_route_31 ]). objects(rail_route,[ rail_route_2_x,rail_route_3_x , rail_route_2_z,rail_route_3_z , rail_route_2_y,rail_route_3_y , rail_route_2,rail_route_3 ]). objects(truck, [ truck_1_x, truck_2_x, truck_3_x, truck_11_x, truck_22_x, truck_33_x, truck_1_z, truck_2_z, truck_3_z, truck_11_z, truck_22_z, truck_33_z, truck_1_y, truck_2_y, truck_3_y, truck_11_y, truck_22_y, truck_33_y, truck_1, truck_2, truck_3, truck_11, truck_22, truck_33]). objects(package,[pk_1, pk_2, pk_3, pk_4, pk_5, pk_6, pk_1_x, pk_2_x, pk_3_x, pk_4_x, pk_5_x, pk_6_x, pk_1_z, pk_2_z, pk_3_z, pk_4_z, pk_5_z, pk_6_z, pk_1_y, pk_2_y, pk_3_y, pk_4_y, pk_5_y, pk_6_y]). objects(region,[east,west,south,north]). /*********************** predcate defns ***********************************/ predicates([ % dynamic at(physical_obj,city_location), moveable(vehicle), available(vehicle), busy(vehicle), attached(railv,railv), unattached(railv), waiting(package), certified(package), uncertified(package), loaded(package,truck), loaded(package,traincar), loaded(package,aircraft), delivered(package), % static rv_compatible(route,vehicle), ap_serves(airport,city), connects(route,location,location), in_city(location, city), in_region(location,region), serves_region(airport,region), route_available(route) ]). /*********************** invariants ****************************************/ % LHS vars univ. quantified over primitive sorts % RHS free vars are existentially quantified implied_invariant([loaded(P,V)], [at(V,L),at(P,L)]). inconsistent_constraint([certified(P), not_insured(P)]). atomic_invariants([ rv_compatible(rail_route,traincar), rv_compatible(rail_route,train), rv_compatible(road_route,truck), serves_region(ap1,east), in_city(ap1,city1),in_region(ap1,east), in_city(city1_cl1,city1), in_city(city1_ts1,city1), in_city(city1_cl2,city1), in_city(city1_ts2,city1), in_city(city2_cl1,city2), in_city(city2_ts1,city2), in_city(city3_cl1,city3), in_city(city3_ts1,city3), serves(city1_ts1,city1), serves(city1_ts2,city1), serves(city2_ts1,city2), serves(city3_ts1,city3), route_available(road_route_31), connects(road_route_31,city3,city1), connects(road_route_31,city1,city3), route_available(road_route_32), connects(road_route_32,city3,city2), connects(road_route_32,city2,city3), route_available(rail_route_1), connects(rail_route_1,city1_ts2,city1_ts1), connects(rail_route_1,city1_ts1,city1_ts2), route_available(rail_route_2), connects(rail_route_2,city2_ts1,city1_ts1), connects(rail_route_2,city1_ts1,city2_ts1), connects(road_route_21,city2,city1), route_available(road_route_21), connects(road_route_21,city1,city2), in_region(city1_ts1,east),in_region(city1,east), in_region(city2_ts1,east), in_region(city2,east), in_region(city3_ts1,east), in_region(city3,east), in_region(city1_ts2,east), in_region(city1_cl1,east), in_region(city1_cl2,east), in_region(city2_cl1,east), in_region(city3_cl1,east), serves_region(ap2,west), in_city(ap2,city1_x),in_region(ap2,west), in_region(city1_ts1_x,west),in_region(city1_x,west), in_region(city2_ts1_x,west), in_region(city2_x,west), in_region(city3_ts1_x,west), in_region(city3_x,west), in_region(city1_ts2_x,west), in_region(city1_cl1_x,west), in_region(city1_cl2_x,west), in_region(city2_cl1_x,west), in_region(city3_cl1_x,west), in_city(city1_cl1_x,city1_x), in_city(city1_ts1_x,city1_x), in_city(city1_cl2_x,city1_x), in_city(city1_ts2_x,city1_x), in_city(city2_cl1_x,city2_x), in_city(city2_ts1_x,city2_x), in_city(city3_cl1_x,city3_x), in_city(city3_ts1_x,city3_x), serves(city1_ts1_x,city1_x), serves(city1_ts2_x,city1_x), serves(city2_ts1_x,city2_x), serves(city3_ts1_x,city3_x), route_available(road_route_31_x), connects(road_route_31_x,city3_x,city1_x), connects(road_route_31_x,city1_x,city3_x), route_available(road_route_32_x), connects(road_route_32_x,city3_x,city2_x), connects(road_route_32_x,city2_x,city3_x), route_available(rail_route_1_x), connects(rail_route_1_x,city1_ts2_x,city1_ts1_x), connects(rail_route_1_x,city1_ts1_x,city1_ts2_x), route_available(rail_route_2_x), connects(rail_route_2_x,city2_ts1_x,city1_ts1_x), connects(rail_route_2_x,city1_ts1_x,city2_ts1_x), connects(road_route_21_x,city1_x,city2_x), connects(road_route_21_x,city2_x,city1_x), route_available(road_route_21_x), serves_region(ap3,south), in_city(ap3,city1_y),in_region(ap3,south), in_region(city1_ts1_y,south),in_region(city1_y,south), in_region(city2_ts1_y,south), in_region(city2_y,south), in_region(city3_ts1_y,south), in_region(city3_y,south), in_region(city1_ts2_y,south), in_region(city1_cl1_y,south), in_region(city1_cl2_y,south), in_region(city2_cl1_y,south), in_region(city3_cl1_y,south), in_city(city1_cl1_y,city1_y), in_city(city1_ts1_y,city1_y), in_city(city1_cl2_y,city1_y), in_city(city1_ts2_y,city1_y), in_city(city2_cl1_y,city2_y), in_city(city2_ts1_y,city2_y), in_city(city3_cl1_y,city3_y), in_city(city3_ts1_y,city3_y), serves(city1_ts1_y,city1_y), serves(city1_ts2_y,city1_y), serves(city2_ts1_y,city2_y), serves(city3_ts1_y,city3_y), route_available(road_route_31_y), connects(road_route_31_y,city3_y,city1_y), connects(road_route_31_y,city1_y,city3_y), route_available(road_route_32_y), connects(road_route_32_y,city3_y,city2_y), connects(road_route_32_y,city2_y,city3_y), route_available(rail_route_1_y), connects(rail_route_1_y,city1_ts2_y,city1_ts1_y), connects(rail_route_1_y,city1_ts1_y,city1_ts2_y), route_available(rail_route_2_y), connects(rail_route_2_y,city2_ts1_y,city1_ts1_y), connects(rail_route_2_y,city1_ts1_y,city2_ts1_y), connects(road_route_21_y,city1_y,city2_y), connects(road_route_21_y,city2_y,city1_y), route_available(road_route_21_y), serves_region(ap4,north), in_city(ap4,city1_z),in_region(ap4,north), in_region(city1_ts1_z,north),in_region(city1_z,north), in_region(city2_ts1_z,north), in_region(city2_z,north), in_region(city3_ts1_z,north), in_region(city3_z,north), in_region(city1_ts2_z,north), in_region(city1_cl1_z,north), in_region(city1_cl2_z,north), in_region(city2_cl1_z,north), in_region(city3_cl1_z,north), in_city(city1_cl1_z,city1_z), in_city(city1_ts1_z,city1_z), in_city(city1_cl2_z,city1_z), in_city(city1_ts2_z,city1_z), in_city(city2_cl1_z,city2_z), in_city(city2_ts1_z,city2_z), in_city(city3_cl1_z,city3_z), in_city(city3_ts1_z,city3_z), serves(city1_ts1_z,city1_z), serves(city1_ts2_z,city1_z), serves(city2_ts1_z,city2_z), serves(city3_ts1_z,city3_z), route_available(road_route_31_z), connects(road_route_31_z,city3_z,city1_z), connects(road_route_31_z,city1_z,city3_z), route_available(road_route_32_z), connects(road_route_32_z,city3_z,city2_z), connects(road_route_32_z,city2_z,city3_z), route_available(rail_route_1_z), connects(rail_route_1_z,city1_ts2_z,city1_ts1_z), connects(rail_route_1_z,city1_ts1_z,city1_ts2_z), route_available(rail_route_2_z), connects(rail_route_2_z,city2_ts1_z,city1_ts1_z), connects(rail_route_2_z,city1_ts1_z,city2_ts1_z), connects(road_route_21_z,city1_z,city2_z), connects(road_route_21_z,city2_z,city1_z), route_available(road_route_21_z) ]). /*********************** ss classes ****************************************/ substate_classes(physical_obj, P, [ [at(P,L)] ]). substate_classes(railv, V, [ [unattached(V)] , [attached(V,V1)] ]). substate_classes(vehicle, T, [ [moveable(T),available(T)], [moveable(T),busy(T)] ]). substate_classes(package, P, [ [uncertified(P)], [waiting(P),certified(P)], [loaded(P,V),certified(P)], [delivered(P)] ]) . /*********************** operators ****************************************/ % method(name,precons,transitions,statics,temps,decomposition) % operator(name,prevail,transitions,cond_transitions) method( % 1. name transport(P,O,D), % 2. dynamic constraints [ ], % 3. list of necessary substate changes [ sc(package, P, [at(P,O), is_of_sort(P,package)] => [at(P,D), delivered(P)]) ], % 4. static constraints [ ne(O,D),in_region(O,R),in_region(D,R) % list of static predicates that must be instantiated to % be true. Static preds may also appear in 2. and 3. if % its clearer that way ], % 5. temporal constraints % list of static predicates before(N1,N2) [before(1,2),before(2,3)], % 6. decomposition [ achieve( ss(package, P,[waiting(P),certified(P)]) ), carry_direct(P,O,D), deliver(P,D)] ). method( transport(P,O,D), [ ], [ sc(package, P, [at(P,O), is_of_sort(P,package)] => [at(P,D), delivered(P)]) ], [ ne(O,D),ne(R1,R2),is_of_sort(AV,aircraft), in_region(O,R1),in_region(D,R2), serves_region(A1,R1),serves_region(A2,R2) ], [before(1,2),before(2,3),before(3,4),before(4,5)], [ achieve( ss(package, P,[waiting(P),certified(P)]) ), carry_direct(P,O,A1), carry_via_ap(A1,A2,P), carry_direct(P,A2,D), deliver(P,D)] ). method( carry_via_ap(O,D,P), [ ], [ sc(package, P, [at(P,O),waiting(P),certified(P)] => [at(P,D),waiting(P),certified(P)]) ], [ ne(O,D), % ne(O,O1), is_of_sort(O1,airport), is_of_sort(O,airport), is_of_sort(D,airport), is_of_sort(P,package), is_of_sort(V,aircraft)], [before(1,3), before(2,3),before(3,4), before(4,5)], [ % fly(V,O1,O), commission(V), achieve(ss(aircraft,V,[at(V,O)])), load_package(P,V,O), fly(V,O,D), unload_package(P,V,D) ] ). % carry in one city method( carry_direct(P,O,D), [ ], [ sc(package, P, [at(P,O),waiting(P),certified(P)] => [at(P,D),waiting(P),certified(P)]) ], [is_of_sort(P,package), is_of_sort(V,truck), in_city(O,CY), in_city(D,CY) ], [before(1,2), before(2,3), before(3,4),before(4,5) ], [ % achieve(ss(truck,V,[moveable(V), busy(V)])), commission(V), achieve(ss(truck,V,[at(V,O)])), load_package(P,V,O), move(V,O,D,local_roads), unload_package(P,V,D) ] ). % carry between two cities by traincar method( carry_direct(P,O,D), [ ], [ sc(package, P, [at(P,O),waiting(P),certified(P)] => [at(P,D),waiting(P),certified(P)]) ], [is_of_sort(P,package), is_of_sort(V,traincar), is_of_sort(Train,train), connects(R,O,D), rv_compatible(R,traincar), route_available(R) ], [before(1,2), before(2,3), before(3,4),before(4,5), before(5,6),before(6,7),before(7,8) ], [ commission(V), achieve(ss(train,Train,[at(Train,O),attached(Train,V)])), load_package(P,V,O), pull_traincar(Train,V,O,D,R), detach_traincar(Train,V,D), unload_package(P,V,D) ] ). % carry between two cities by truck method( carry_direct(P,O,D), [ ], [ sc(package, P, [at(P,O),waiting(P),certified(P)] => [at(P,D),waiting(P),certified(P)]) ], [is_of_sort(P,package), is_of_sort(V,truck), in_city(O,CY), in_city(D,CY1), ne(CY,CY1), connects(R,CY,CY1), is_of_sort(R,road_route), route_available(R) ], [before(1,2), before(2,3), before(3,4),before(4,5) ], [ % achieve(ss(truck,V,[moveable(V), busy(V)])), commission(V), achieve(ss(truck,V,[at(V,O)])), load_package(P,V,O), move(V,O,D,R), unload_package(P,V,D) ] ). method( move_traincar(V, O, L, R2), [ ], [sc(traincar,V,[at(V,O) ] =>[at(V,L)] )], [is_of_sort(V,traincar), connects(R2,O,L), is_of_sort(R2,rail_route), is_of_sort(Train,train) ], [before(1,2), before(2,3), before(3,4),before(4,5) ], [ achieve(ss(train,Train,[at(Train,O)])), attach_traincar(Train,V,O), pull_traincar(Train,V,O,L,R2), detach_traincar(Train,V,L) ] ). /* getting docs ready */ operator( pay_fees(P), [], [sc(package,P,[uncertified(P)] =>[waiting(P),certified(P)])], [ ]). operator(fly(A,D1,D2), [ ], [sc(aircraft,A,[at(A,D1)] =>[at(A,D2)] )], [sc(package,X,[loaded(X,A),certified(X),at(X,D1)] => [loaded(X,A),certified(X),at(X,D2)]) ] ). %move truck operator( move(V, O, L, R), [ ], [sc(truck,V,[at(V,O), is_of_sort(R,road_route), moveable(V), in_city(O,City), in_city(L,City1), ne(City,City1), connects(R,City,City1)] =>[at(V,L)] )], [sc(package,X,[loaded(X,V),certified(X),at(X,O)] => [loaded(X,V),certified(X),at(X,L)]) ] ). %move truck inside city operator( move(V, O, L, local_roads), [], [sc(truck,V,[at(V,O), moveable(V), in_city(O,City), in_city(L,City)] =>[at(V,L)] )], [ sc(package,X,[loaded(X,V),certified(X),at(X,O)] =>[loaded(X,V),certified(X),at(X,L)]) ] ). %move traincar operator( pull_traincar(Train,V1, O, L, Rt), [ ], [ sc(train,Train,[at(Train,O), attached(Train,V1), moveable(Train), connects(Rt,O,L), is_of_sort(Rt,rail_route)] =>[at(Train,L),attached(Train,V1)] ), sc(traincar,V1,[at(V1,O),attached(V1,Train)] =>[at(V1,L),attached(V1,Train)]) ], [sc(package,P,[loaded(P,V1),certified(P),at(P,O)] =>[loaded(P,V1),certified(P),at(P,L)]) ] ). operator( move_train(V, O, L, Rt), [ ], [sc(train,V,[at(V,O),unattached(V), moveable(V),available(V), connects(Rt,O,L), is_of_sort(Rt,rail_route)] =>[at(V,L),unattached(V),moveable(V),available(V)] )], [ ] ). operator(attach_traincar(Train,V,O), [ ], [sc(train, Train, [at(Train,O),moveable(Train),available(Train),unattached(Train)] =>[at(Train,O),attached(Train,V),moveable(Train),busy(Train)] ), sc(traincar, V, [at(V,O),unattached(V)] =>[at(V,O),attached(V,Train)] ) ], [ ] ). operator(detach_traincar(Train,V,O), [ ], [sc(train, Train, [attached(Train,V),moveable(Train),busy(Train)] =>[unattached(Train),moveable(Train),available(Train)] ), sc(traincar, V, [attached(V,Train)] =>[unattached(V)] ) ], [ ] ). operator(commission(V), [ ], [sc(vehicle, V,[moveable(V),available(V)] =>[moveable(V), busy(V)])], [ ]). operator( load_package(P,V,L), [ss(vehicle,V, [at(V,L),moveable(V),busy(V)])], [sc(package, P, [at(P,L),waiting(P),certified(P)]=> [at(P,L),loaded(P,V),certified(P)])], [] ). operator( unload_package(P,V,L), [], [sc(package, P, [at(P,L),loaded(P,V),certified(P)]=>[at(P,L),waiting(P),certified(P)] ), sc(vehicle,V, [at(V,L), moveable(V), busy(V)] => [at(V,L),moveable(V),available(V)]) ], [] ). operator( deliver(P,L), [], [sc(package, P, [at(P,L),waiting(P),certified(P)]=> [at(P,L),delivered(P)] )], [] ). % TESTS htn_task(1,goal([ transport(pk_2_z,city3_cl1_z,city1_cl1_x) ] ,[],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(2,goal([ achieve(ss(traincar,traincar1_z,[at(traincar1_z,city1_ts1_z)])), achieve(ss(traincar,traincar1_y,[at(traincar1_y,city1_ts1_y)])) ] ,[],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(3,goal([ transport(pk_2_x,city3_cl1_x,city2_cl1), % hp1 transport(pk_6_y,city1_ts1_y,city1_cl1_x)], % hp2 [before(hp1,hp2)], [ ]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(4,goal([ transport(pk_3_z,city3_cl1_z,city1_cl1_x), transport(pk_2,city3_cl1,CL) ], [], [in_region(CL,west)]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). % transport to two different cities.. htn_task(5,goal([ transport(pk_6_y,city1_ts1_y,city2_cl1), transport(pk_2_y,city3_cl1_y,city3_cl1) ], [before(hp1,hp2)], []), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(6,goal([ transport(pk_1,city3_cl1,X), transport(pk_2,city3_cl1,Y) ], [before(hp1,hp2)], [in_city(X,CT1),in_city(Y,CT2),ne(CT1,CT2),ne(CT1,city3),ne(CT2,city3)]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(7,goal([ achieve( ss(traincar,traincar1,[at(traincar1,city1_ts1)]) ), transport(pk_6_x,city1_ts1_x,C) ],[],[ne(C,city2_ts1_x)]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(8,goal([ transport(pk_6_x,city1_ts1_x,city2_ts1_z) ],[],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(9,goal([ transport(pk_2_y,city3_cl1_y,city1_cl1), transport(pk_4_z,city1_cl1_z,city2_cl1_y), transport(pk_1,city3_cl1,city1_cl1)],[],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(10,goal([ achieve(ss(traincar,traincar1,[at(traincar1,city1_ts1)])), transport(pk_5_z,city3_cl1_z,city2_cl1), achieve(ss(package,pk_5,[at(pk_5,X),delivered(pk_5)] )) ], [before(hp1,hp3)], [serves(X,city3_x)]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(11,goal([ transport(pk_1,city3_cl1,city1_cl1), transport(pk_2_z,city3_cl1_z,city2_cl1_y), transport(pk_3_y,city3_cl1_y,city1_cl1), transport(pk_4,city1_cl1,city3_cl1_x)], [ ],[ ]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(12,goal([ transport(pk_1,city3_cl1,city1_cl1), transport(pk_2,city3_cl1,city2_cl1), transport(pk_3,city3_cl1,city1_cl1), transport(pk_4,city1_cl1,city3_cl1), transport(pk_5,city3_cl1,city1_cl1) ], [ ],[ ]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(13,goal([ transport(pk_3_x,city3_cl1_x,city1_cl1_z), transport(pk_2_x,city3_cl1_x,city2_cl1), transport(pk_3_z,city3_cl1_z,city1_cl1_z), transport(pk_4,city1_cl1,city3_cl1_x), transport(pk_5_y,city3_cl1_y,city1_cl1_y) ], [before(hp1,hp2),before(hp3,hp2)],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(14,goal([ transport(pk_1,city3_cl1,city1_cl1_x), transport(pk_2_x,city3_cl1_x,city2_cl1_z), transport(pk_3,city3_cl1,city1_cl1), achieve(ss(traincar,traincar1,[at(traincar1,city1_ts1)])), transport(pk_4,city1_cl1,city3_cl1), transport(pk_5_x,city3_cl1_x,city1_cl1_x) ], [before(hp1,hp2),before(hp3,hp2)],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(15,goal([ transport(pk_2,city3_cl1,city2_cl1_x), transport(pk_3_x,city3_cl1_x,city1_ts1), transport(pk_4_y,city1_cl1_y,city3_cl1_x), transport(pk_6_z,city1_ts1_z,city3_ts1_x), transport(pk_5,city3_cl1,city1_cl1) ], [before(hp1,hp2),before(hp3,hp2)],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(16,goal([ transport(pk_1,city3_cl1,ap1)], [],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(17,goal([ transport(pk_1_y,ap3,city1_cl1_y)], [],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(18,goal([ achieve( ss(package, pk_1_x,[waiting(pk_1_x),certified(pk_1_x)])), carry_via_ap(ap2,ap1,pk_1_x,V)], [],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(19,goal([ transport(pk_1,city3_cl1,city1_cl1_y), transport(pk_2_x,city3_cl1_x,city2_cl1_y), transport(pk_5,city3_cl1,city1_cl1_x) ], [],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). htn_task(20,goal([ transport(pk_2_y,city3_cl1_y,city1_cl1_x), transport(pk_2,city3_cl1,city2_cl1_x), transport(pk_3_x,city3_cl1_x,city1_ts1), transport(pk_4,city1_cl1,city3_cl1_x) ], [before(hp1,hp2),before(hp3,hp2)],[]), [ ss(package,pk_1, [at(pk_1,city3_cl1), uncertified(pk_1)]), ss(package,pk_2, [at(pk_2,city3_cl1), uncertified(pk_2)]), ss(package,pk_3, [at(pk_3,city3_cl1), uncertified(pk_3)]), ss(package,pk_4, [at(pk_4,city1_cl1), uncertified(pk_4)]), ss(package,pk_5, [at(pk_5,city3_cl1), uncertified(pk_5)]), ss(package,pk_6, [at(pk_6,city1_ts1), uncertified(pk_6)]), ss(truck,truck_1, [at(truck_1,city1_cl1), moveable(truck_1), available(truck_1)]), ss(truck,truck_11, [at(truck_11,city1_cl1), moveable(truck_11), available(truck_11)]), ss(truck,truck_2, [at(truck_2,city2_cl1), moveable(truck_2), available(truck_2)]), ss(truck,truck_22, [at(truck_22,city2_cl1), moveable(truck_22), available(truck_22)]), ss(truck,truck_3, [at(truck_3,city3_cl1), moveable(truck_3), available(truck_3)]), ss(truck,truck_33, [at(truck_33,city3_cl1), moveable(truck_33), available(truck_33)]), ss(traincar,traincar1, [at(traincar1,city2_ts1), unattached(traincar1), moveable(traincar1),available(traincar1)]), ss(train,train2, [at(train2,city2_ts1), unattached(train2), moveable(train2),available(train2)]), ss(train,train1, [at(train1,city1_ts1), unattached(train1), moveable(train1),available(train1)]), ss(aircraft,ac1, [at(ac1,ap2),moveable(ac1), available(ac1)]), ss(aircraft,ac2, [at(ac2,ap2),moveable(ac2), available(ac2)]), ss(aircraft,ac3, [at(ac3,ap2),moveable(ac3), available(ac3)]), ss(aircraft,ac4, [at(ac4,ap2),moveable(ac4), available(ac4)]), ss(aircraft,ac5, [at(ac5,ap1),moveable(ac5), available(ac5)]), ss(aircraft,ac6, [at(ac6,ap1),moveable(ac6), available(ac6)]), ss(aircraft,ac7, [at(ac7,ap1),moveable(ac7), available(ac7)]), ss(aircraft,ac8, [at(ac8,ap1),moveable(ac8), available(ac8)]), ss(aircraft,ac9, [at(ac9,ap3),moveable(ac9), available(ac9)]), ss(aircraft,ac10, [at(ac10,ap3),moveable(ac10), available(ac10)]), ss(aircraft,ac11, [at(ac11,ap3),moveable(ac11), available(ac11)]), ss(aircraft,ac12, [at(ac12,ap3),moveable(ac12), available(ac12)]), ss(aircraft,ac13, [at(ac13,ap4),moveable(ac13), available(ac13)]), ss(aircraft,ac14, [at(ac14,ap4),moveable(ac14), available(ac14)]), ss(aircraft,ac15, [at(ac15,ap4),moveable(ac15), available(ac15)]), ss(aircraft,ac16, [at(ac16,ap4),moveable(ac16), available(ac16)]), ss(package,pk_1_x, [at(pk_1_x,ap2), uncertified(pk_1_x)]), ss(package,pk_2_x, [at(pk_2_x,city3_cl1_x), uncertified(pk_2_x)]), ss(package,pk_3_x, [at(pk_3_x,city3_cl1_x), uncertified(pk_3_x)]), ss(package,pk_4_x, [at(pk_4_x,city1_cl1_x), uncertified(pk_4_x)]), ss(package,pk_5_x, [at(pk_5_x,city3_cl1_x), uncertified(pk_5_x)]), ss(package,pk_6_x, [at(pk_6_x,city1_ts1_x), uncertified(pk_6_x)]), ss(truck,truck_1_x, [at(truck_1_x,city1_cl1_x), moveable(truck_1_x), available(truck_1_x)]), ss(truck,truck_11_x, [at(truck_11_x,city1_cl1_x), moveable(truck_11_x), available(truck_11_x)]), ss(truck,truck_2_x, [at(truck_2_x,city2_cl1_x), moveable(truck_2_x), available(truck_2_x)]), ss(truck,truck_22_x, [at(truck_22_x,city2_cl1_x), moveable(truck_22_x), available(truck_22_x)]), ss(truck,truck_3_x, [at(truck_3_x,city3_cl1_x), moveable(truck_3_x), available(truck_3_x)]), ss(truck,truck_33_x, [at(truck_33_x,city3_cl1_x), moveable(truck_33_x), available(truck_33_x)]), ss(traincar,traincar1_x, [at(traincar1_x,city2_ts1_x), unattached(traincar1_x), moveable(traincar1_x),available(traincar1_x)]), ss(train,train2_x, [at(train2_x,city2_ts1_x), unattached(train2_x), moveable(train2_x),available(train2_x)]), ss(train,train1_x, [at(train1_x,city1_ts1_x), unattached(train1_x), moveable(train1_x),available(train1_x)]), ss(package,pk_1_y, [at(pk_1_y,ap3), uncertified(pk_1_y)]), ss(package,pk_2_y, [at(pk_2_y,city3_cl1_y), uncertified(pk_2_y)]), ss(package,pk_3_y, [at(pk_3_y,city3_cl1_y), uncertified(pk_3_y)]), ss(package,pk_4_y, [at(pk_4_y,city1_cl1_y), uncertified(pk_4_y)]), ss(package,pk_5_y, [at(pk_5_y,city3_cl1_y), uncertified(pk_5_y)]), ss(package,pk_6_y, [at(pk_6_y,city1_ts1_y), uncertified(pk_6_y)]), ss(truck,truck_1_y, [at(truck_1_y,city1_cl1_y), moveable(truck_1_y), available(truck_1_y)]), ss(truck,truck_11_y, [at(truck_11_y,city1_cl1_y), moveable(truck_11_y), available(truck_11_y)]), ss(truck,truck_2_y, [at(truck_2_y,city2_cl1_y), moveable(truck_2_y), available(truck_2_y)]), ss(truck,truck_22_y, [at(truck_22_y,city2_cl1_y), moveable(truck_22_y), available(truck_22_y)]), ss(truck,truck_3_y, [at(truck_3_y,city3_cl1_y), moveable(truck_3_y), available(truck_3_y)]), ss(truck,truck_33_y, [at(truck_33_y,city3_cl1_y), moveable(truck_33_y), available(truck_33_y)]), ss(traincar,traincar1_y, [at(traincar1_y,city2_ts1_y), unattached(traincar1_y), moveable(traincar1_y),available(traincar1_y)]), ss(train,train2_y, [at(train2_y,city2_ts1_y), unattached(train2_y), moveable(train2_y),available(train2_y)]), ss(train,train1_y, [at(train1_y,city1_ts1_y), unattached(train1_y), moveable(train1_y),available(train1_y)]), ss(package,pk_1_z, [at(pk_1_z,ap3), uncertified(pk_1_z)]), ss(package,pk_2_z, [at(pk_2_z,city3_cl1_z), uncertified(pk_2_z)]), ss(package,pk_3_z, [at(pk_3_z,city3_cl1_z), uncertified(pk_3_z)]), ss(package,pk_4_z, [at(pk_4_z,city1_cl1_z), uncertified(pk_4_z)]), ss(package,pk_5_z, [at(pk_5_z,city3_cl1_z), uncertified(pk_5_z)]), ss(package,pk_6_z, [at(pk_6_z,city1_ts1_z), uncertified(pk_6_z)]), ss(truck,truck_1_z, [at(truck_1_z,city1_cl1_z), moveable(truck_1_z), available(truck_1_z)]), ss(truck,truck_11_z, [at(truck_11_z,city1_cl1_z), moveable(truck_11_z), available(truck_11_z)]), ss(truck,truck_2_z, [at(truck_2_z,city2_cl1_z), moveable(truck_2_z), available(truck_2_z)]), ss(truck,truck_22_z, [at(truck_22_z,city2_cl1_z), moveable(truck_22_z), available(truck_22_z)]), ss(truck,truck_3_z, [at(truck_3_z,city3_cl1_z), moveable(truck_3_z), available(truck_3_z)]), ss(truck,truck_33_z, [at(truck_33_z,city3_cl1_z), moveable(truck_33_z), available(truck_33_z)]), ss(traincar,traincar1_z, [at(traincar1_z,city2_ts1_z), unattached(traincar1_z), moveable(traincar1_z),available(traincar1_z)]), ss(train,train2_z, [at(train2_z,city2_ts1_z), unattached(train2_z), moveable(train2_z),available(train2_z)]), ss(train,train1_z, [at(train1_z,city1_ts1_z), unattached(train1_z), moveable(train1_z),available(train1_z)]) ]). % end_of_file. domain translog4 task 1: CPU Time = 950 TIME TAKEN = 0.95 SECONDS Solution SIZE = 15 Operator Used = 21 ***************************************TASK 1 task 2: CPU Time = 4520 TIME TAKEN = 4.52 SECONDS Solution SIZE = 6 Operator Used = 8 task 3: CPU Time = 3640 TIME TAKEN = 3.64 SECONDS Solution SIZE = 31 Operator Used = 42 task 4: CPU Time = 6970 TIME TAKEN = 6.97 SECONDS Solution SIZE = 29 Operator Used = 224 ***************************************TASK 4 SOLUTION pay_fees(pk_2) commission(truck_3) load_package(pk_2,truck_3,city3_cl1) move(truck_3,city3_cl1,ap1,road_route_31) unload_package(pk_2,truck_3,ap1) commission(ac5) load_package(pk_2,ac5,ap1) fly(ac5,ap1,ap2) unload_package(pk_2,ac5,ap2) move(truck_2_x,city2_cl1_x,ap2,road_route_21_x) commission(truck_2_x) load_package(pk_2,truck_2_x,ap2) move(truck_2_x,ap2,ap2,local_roads) unload_package(pk_2,truck_2_x,ap2) deliver(pk_2,ap2) pay_fees(pk_3_z) commission(truck_3_z) load_package(pk_3_z,truck_3_z,city3_cl1_z) move(truck_3_z,city3_cl1_z,ap4,road_route_31_z) unload_package(pk_3_z,truck_3_z,ap4) commission(ac13) load_package(pk_3_z,ac13,ap4) fly(ac13,ap4,ap2) unload_package(pk_3_z,ac13,ap2) commission(truck_2_x) load_package(pk_3_z,truck_2_x,ap2) move(truck_2_x,ap2,city1_cl1_x,local_roads) unload_package(pk_3_z,truck_2_x,city1_cl1_x) deliver(pk_3_z,city1_cl1_x) END FILE task 5: CPU Time = 1490 TIME TAKEN = 1.49 SECONDS Solution SIZE = 13 Operator Used = 19 ***************************************TASK 5 SOLUTION pay_fees(pk_2_y) commission(truck_3_y) load_package(pk_2_y,truck_3_y,city3_cl1_y) move(truck_3_y,city3_cl1_y,city3_ts1_y,local_roads) unload_package(pk_2_y,truck_3_y,city3_ts1_y) deliver(pk_2_y,city3_ts1_y) pay_fees(pk_6_y) move(truck_2_y,city2_cl1_y,city1_ts1_y,road_route_21_y) commission(truck_2_y) load_package(pk_6_y,truck_2_y,city1_ts1_y) move(truck_2_y,city1_ts1_y,ap3,local_roads) unload_package(pk_6_y,truck_2_y,ap3) deliver(pk_6_y,ap3) END FILE task 6: CPU Time = 860 TIME TAKEN = 0.86 SECONDS Solution SIZE = 12 Operator Used = 41 ***************************************TASK 6 SOLUTION pay_fees(pk_2) commission(truck_3) load_package(pk_2,truck_3,city3_cl1) move(truck_3,city3_cl1,city2_cl1,road_route_32) unload_package(pk_2,truck_3,city2_cl1) deliver(pk_2,city2_cl1) pay_fees(pk_1) commission(truck_33) load_package(pk_1,truck_33,city3_cl1) move(truck_33,city3_cl1,ap1,road_route_31) unload_package(pk_1,truck_33,ap1) deliver(pk_1,ap1) END FILE task 7: CPU Time = 3120 TIME TAKEN = 3.12 SECONDS Solution SIZE = 10 Operator Used = 13 ***************************************TASK 7 SOLUTION attach_traincar(train2,traincar1,city2_ts1) pull_traincar(train2,traincar1,city2_ts1,city1_ts1,rail_route_2) detach_traincar(train2,traincar1,city1_ts1) pay_fees(pk_6_x) move(truck_2_x,city2_cl1_x,city1_ts1_x,road_route_21_x) commission(truck_2_x) load_package(pk_6_x,truck_2_x,city1_ts1_x) move(truck_2_x,city1_ts1_x,ap2,local_roads) unload_package(pk_6_x,truck_2_x,ap2) deliver(pk_6_x,ap2) END FILE task 8: CPU Time = 1930 TIME TAKEN = 1.93 SECONDS Solution SIZE = 16 Operator Used = 21 ***************************************TASK 8 SOLUTION pay_fees(pk_6_x) move(truck_2_x,city2_cl1_x,city1_ts1_x,road_route_21_x) commission(truck_2_x) load_package(pk_6_x,truck_2_x,city1_ts1_x) move(truck_2_x,city1_ts1_x,ap2,local_roads) unload_package(pk_6_x,truck_2_x,ap2) commission(ac1) load_package(pk_6_x,ac1,ap2) fly(ac1,ap2,ap4) unload_package(pk_6_x,ac1,ap4) move(truck_2_z,city2_cl1_z,ap4,road_route_21_z) commission(truck_2_z) load_package(pk_6_x,truck_2_z,ap4) move(truck_2_z,ap4,city2_ts1_z,road_route_21_z) unload_package(pk_6_x,truck_2_z,city2_ts1_z) deliver(pk_6_x,city2_ts1_z) END FILE task 9: CPU Time = 2900 TIME TAKEN = 2.9 SECONDS Solution SIZE = 36 Operator Used = 51 ***************************************TASK 9 SOLUTION pay_fees(pk_1) commission(truck_3) load_package(pk_1,truck_3,city3_cl1) move(truck_3,city3_cl1,city1_cl1,road_route_31) unload_package(pk_1,truck_3,city1_cl1) deliver(pk_1,city1_cl1) pay_fees(pk_4_z) commission(truck_1_z) load_package(pk_4_z,truck_1_z,city1_cl1_z) move(truck_1_z,city1_cl1_z,ap4,local_roads) unload_package(pk_4_z,truck_1_z,ap4) commission(ac13) load_package(pk_4_z,ac13,ap4) fly(ac13,ap4,ap3) unload_package(pk_4_z,ac13,ap3) move(truck_2_y,city2_cl1_y,ap3,road_route_21_y) commission(truck_2_y) load_package(pk_4_z,truck_2_y,ap3) move(truck_2_y,ap3,city2_cl1_y,road_route_21_y) unload_package(pk_4_z,truck_2_y,city2_cl1_y) deliver(pk_4_z,city2_cl1_y) pay_fees(pk_2_y) commission(truck_3_y) load_package(pk_2_y,truck_3_y,city3_cl1_y) move(truck_3_y,city3_cl1_y,ap3,road_route_31_y) unload_package(pk_2_y,truck_3_y,ap3) commission(ac9) load_package(pk_2_y,ac9,ap3) fly(ac9,ap3,ap1) unload_package(pk_2_y,ac9,ap1) move(truck_2,city2_cl1,ap1,road_route_21) commission(truck_2) load_package(pk_2_y,truck_2,ap1) move(truck_2,ap1,city1_cl1,local_roads) unload_package(pk_2_y,truck_2,city1_cl1) deliver(pk_2_y,city1_cl1) END FILE task 10: CPU Time = 5570 TIME TAKEN = 5.57 SECONDS Solution SIZE = 32 Operator Used = 46 ***************************************TASK 10 SOLUTION attach_traincar(train2,traincar1,city2_ts1) pull_traincar(train2,traincar1,city2_ts1,city1_ts1,rail_route_2) detach_traincar(train2,traincar1,city1_ts1) pay_fees(pk_5) commission(truck_3) load_package(pk_5,truck_3,city3_cl1) move(truck_3,city3_cl1,ap1,road_route_31) unload_package(pk_5,truck_3,ap1) commission(ac5) load_package(pk_5,ac5,ap1) fly(ac5,ap1,ap2) unload_package(pk_5,ac5,ap2) move(truck_2_x,city2_cl1_x,ap2,road_route_21_x) commission(truck_2_x) load_package(pk_5,truck_2_x,ap2) move(truck_2_x,ap2,city3_ts1_x,road_route_31_x) unload_package(pk_5,truck_2_x,city3_ts1_x) deliver(pk_5,city3_ts1_x) pay_fees(pk_5_z) commission(truck_3_z) load_package(pk_5_z,truck_3_z,city3_cl1_z) move(truck_3_z,city3_cl1_z,ap4,road_route_31_z) unload_package(pk_5_z,truck_3_z,ap4) commission(ac13) load_package(pk_5_z,ac13,ap4) fly(ac13,ap4,ap1) unload_package(pk_5_z,ac13,ap1) commission(truck_3) load_package(pk_5_z,truck_3,ap1) move(truck_3,ap1,city2_cl1,road_route_21) unload_package(pk_5_z,truck_3,city2_cl1) deliver(pk_5_z,city2_cl1) END FILE task 11: CPU Time = 1300 TIME TAKEN = 1.3 SECONDS Solution SIZE = 49 Operator Used = 72 ***************************************TASK 11 SOLUTION pay_fees(pk_4) commission(truck_1) load_package(pk_4,truck_1,city1_cl1) move(truck_1,city1_cl1,ap1,local_roads) unload_package(pk_4,truck_1,ap1) commission(ac5) load_package(pk_4,ac5,ap1) fly(ac5,ap1,ap2) unload_package(pk_4,ac5,ap2) move(truck_2_x,city2_cl1_x,ap2,road_route_21_x) commission(truck_2_x) load_package(pk_4,truck_2_x,ap2) move(truck_2_x,ap2,city3_cl1_x,road_route_31_x) unload_package(pk_4,truck_2_x,city3_cl1_x) deliver(pk_4,city3_cl1_x) pay_fees(pk_3_y) commission(truck_3_y) load_package(pk_3_y,truck_3_y,city3_cl1_y) move(truck_3_y,city3_cl1_y,ap3,road_route_31_y) unload_package(pk_3_y,truck_3_y,ap3) commission(ac9) load_package(pk_3_y,ac9,ap3) fly(ac9,ap3,ap1) unload_package(pk_3_y,ac9,ap1) commission(truck_1) load_package(pk_3_y,truck_1,ap1) move(truck_1,ap1,city1_cl1,local_roads) unload_package(pk_3_y,truck_1,city1_cl1) deliver(pk_3_y,city1_cl1) pay_fees(pk_2_z) commission(truck_3_z) load_package(pk_2_z,truck_3_z,city3_cl1_z) move(truck_3_z,city3_cl1_z,ap4,road_route_31_z) unload_package(pk_2_z,truck_3_z,ap4) commission(ac13) load_package(pk_2_z,ac13,ap4) fly(ac13,ap4,ap3) unload_package(pk_2_z,ac13,ap3) commission(truck_3_y) load_package(pk_2_z,truck_3_y,ap3) move(truck_3_y,ap3,city2_cl1_y,road_route_21_y) unload_package(pk_2_z,truck_3_y,city2_cl1_y) deliver(pk_2_z,city2_cl1_y) pay_fees(pk_1) commission(truck_3) load_package(pk_1,truck_3,city3_cl1) move(truck_3,city3_cl1,city1_cl1,road_route_31) unload_package(pk_1,truck_3,city1_cl1) deliver(pk_1,city1_cl1) END FILE task 12: CPU Time = 1780 TIME TAKEN = 1.78 SECONDS Solution SIZE = 31 Operator Used = 45 ***************************************TASK 12 SOLUTION pay_fees(pk_5) commission(truck_3) load_package(pk_5,truck_3,city3_cl1) move(truck_3,city3_cl1,city1_cl1,road_route_31) unload_package(pk_5,truck_3,city1_cl1) deliver(pk_5,city1_cl1) pay_fees(pk_4) commission(truck_1) load_package(pk_4,truck_1,city1_cl1) move(truck_1,city1_cl1,city3_cl1,road_route_31) unload_package(pk_4,truck_1,city3_cl1) deliver(pk_4,city3_cl1) pay_fees(pk_3) commission(truck_1) load_package(pk_3,truck_1,city3_cl1) move(truck_1,city3_cl1,city1_cl1,road_route_31) unload_package(pk_3,truck_1,city1_cl1) deliver(pk_3,city1_cl1) pay_fees(pk_2) commission(truck_33) load_package(pk_2,truck_33,city3_cl1) move(truck_33,city3_cl1,city2_cl1,road_route_32) unload_package(pk_2,truck_33,city2_cl1) deliver(pk_2,city2_cl1) pay_fees(pk_1) move(truck_1,city1_cl1,city3_cl1,road_route_31) commission(truck_1) load_package(pk_1,truck_1,city3_cl1) move(truck_1,city3_cl1,city1_cl1,road_route_31) unload_package(pk_1,truck_1,city1_cl1) deliver(pk_1,city1_cl1) END FILE task 13: CPU Time = 2400 TIME TAKEN = 2.4 SECONDS Solution SIZE = 56 Operator Used = 81 ***************************************TASK 13 SOLUTION pay_fees(pk_5_y) commission(truck_3_y) load_package(pk_5_y,truck_3_y,city3_cl1_y) move(truck_3_y,city3_cl1_y,city1_cl1_y,road_route_31_y) unload_package(pk_5_y,truck_3_y,city1_cl1_y) deliver(pk_5_y,city1_cl1_y) pay_fees(pk_4) commission(truck_1) load_package(pk_4,truck_1,city1_cl1) move(truck_1,city1_cl1,ap1,local_roads) unload_package(pk_4,truck_1,ap1) commission(ac5) load_package(pk_4,ac5,ap1) fly(ac5,ap1,ap2) unload_package(pk_4,ac5,ap2) move(truck_2_x,city2_cl1_x,ap2,road_route_21_x) commission(truck_2_x) load_package(pk_4,truck_2_x,ap2) move(truck_2_x,ap2,city3_cl1_x,road_route_31_x) unload_package(pk_4,truck_2_x,city3_cl1_x) deliver(pk_4,city3_cl1_x) pay_fees(pk_3_z) commission(truck_3_z) load_package(pk_3_z,truck_3_z,city3_cl1_z) move(truck_3_z,city3_cl1_z,city1_cl1_z,road_route_31_z) unload_package(pk_3_z,truck_3_z,city1_cl1_z) deliver(pk_3_z,city1_cl1_z) pay_fees(pk_2_x) commission(truck_2_x) load_package(pk_2_x,truck_2_x,city3_cl1_x) move(truck_2_x,city3_cl1_x,ap2,road_route_31_x) unload_package(pk_2_x,truck_2_x,ap2) commission(ac1) load_package(pk_2_x,ac1,ap2) fly(ac1,ap2,ap1) unload_package(pk_2_x,ac1,ap1) commission(truck_1) load_package(pk_2_x,truck_1,ap1) move(truck_1,ap1,city2_cl1,road_route_21) unload_package(pk_2_x,truck_1,city2_cl1) deliver(pk_2_x,city2_cl1) pay_fees(pk_3_x) commission(truck_3_x) load_package(pk_3_x,truck_3_x,city3_cl1_x) move(truck_3_x,city3_cl1_x,ap2,road_route_31_x) unload_package(pk_3_x,truck_3_x,ap2) commission(ac2) load_package(pk_3_x,ac2,ap2) fly(ac2,ap2,ap4) unload_package(pk_3_x,ac2,ap4) move(truck_2_z,city2_cl1_z,ap4,road_route_21_z) commission(truck_2_z) load_package(pk_3_x,truck_2_z,ap4) move(truck_2_z,ap4,city1_cl1_z,local_roads) unload_package(pk_3_x,truck_2_z,city1_cl1_z) deliver(pk_3_x,city1_cl1_z) END FILE task 14: CPU Time = 3810 TIME TAKEN = 3.81 SECONDS Solution SIZE = 50 Operator Used = 73 ***************************************TASK 14 SOLUTION attach_traincar(train2,traincar1,city2_ts1) pull_traincar(train2,traincar1,city2_ts1,city1_ts1,rail_route_2) detach_traincar(train2,traincar1,city1_ts1) pay_fees(pk_5_x) commission(truck_3_x) load_package(pk_5_x,truck_3_x,city3_cl1_x) move(truck_3_x,city3_cl1_x,city1_cl1_x,road_route_31_x) unload_package(pk_5_x,truck_3_x,city1_cl1_x) deliver(pk_5_x,city1_cl1_x) pay_fees(pk_4) commission(truck_1) load_package(pk_4,truck_1,city1_cl1) move(truck_1,city1_cl1,city3_cl1,road_route_31) unload_package(pk_4,truck_1,city3_cl1) deliver(pk_4,city3_cl1) pay_fees(pk_3) commission(truck_1) load_package(pk_3,truck_1,city3_cl1) move(truck_1,city3_cl1,city1_cl1,road_route_31) unload_package(pk_3,truck_1,city1_cl1) deliver(pk_3,city1_cl1) pay_fees(pk_2_x) commission(truck_33_x) load_package(pk_2_x,truck_33_x,city3_cl1_x) move(truck_33_x,city3_cl1_x,ap2,road_route_31_x) unload_package(pk_2_x,truck_33_x,ap2) commission(ac1) load_package(pk_2_x,ac1,ap2) fly(ac1,ap2,ap4) unload_package(pk_2_x,ac1,ap4) move(truck_2_z,city2_cl1_z,ap4,road_route_21_z) commission(truck_2_z) load_package(pk_2_x,truck_2_z,ap4) move(truck_2_z,ap4,city2_cl1_z,road_route_21_z) unload_package(pk_2_x,truck_2_z,city2_cl1_z) deliver(pk_2_x,city2_cl1_z) pay_fees(pk_1) commission(truck_3) load_package(pk_1,truck_3,city3_cl1) move(truck_3,city3_cl1,ap1,road_route_31) unload_package(pk_1,truck_3,ap1) commission(ac5) load_package(pk_1,ac5,ap1) fly(ac5,ap1,ap2) unload_package(pk_1,ac5,ap2) commission(truck_33_x) load_package(pk_1,truck_33_x,ap2) move(truck_33_x,ap2,city1_cl1_x,local_roads) unload_package(pk_1,truck_33_x,city1_cl1_x) deliver(pk_1,city1_cl1_x) END FILE task 15: CPU Time = 4570 TIME TAKEN = 4.57 SECONDS Solution SIZE = 66 Operator Used = 93 ***************************************TASK 15 SOLUTION pay_fees(pk_5) commission(truck_3) load_package(pk_5,truck_3,city3_cl1) move(truck_3,city3_cl1,city1_cl1,road_route_31) unload_package(pk_5,truck_3,city1_cl1) deliver(pk_5,city1_cl1) pay_fees(pk_6_z) move(truck_2_z,city2_cl1_z,city1_ts1_z,road_route_21_z) commission(truck_2_z) load_package(pk_6_z,truck_2_z,city1_ts1_z) move(truck_2_z,city1_ts1_z,ap4,local_roads) unload_package(pk_6_z,truck_2_z,ap4) commission(ac13) load_package(pk_6_z,ac13,ap4) fly(ac13,ap4,ap2) unload_package(pk_6_z,ac13,ap2) move(truck_2_x,city2_cl1_x,ap2,road_route_21_x) commission(truck_2_x) load_package(pk_6_z,truck_2_x,ap2) move(truck_2_x,ap2,city3_ts1_x,road_route_31_x) unload_package(pk_6_z,truck_2_x,city3_ts1_x) deliver(pk_6_z,city3_ts1_x) pay_fees(pk_4_y) commission(truck_1_y) load_package(pk_4_y,truck_1_y,city1_cl1_y) move(truck_1_y,city1_cl1_y,ap3,local_roads) unload_package(pk_4_y,truck_1_y,ap3) commission(ac9) load_package(pk_4_y,ac9,ap3) fly(ac9,ap3,ap2) unload_package(pk_4_y,ac9,ap2) move(truck_2_x,city3_ts1_x,ap2,road_route_31_x) commission(truck_2_x) load_package(pk_4_y,truck_2_x,ap2) move(truck_2_x,ap2,city3_cl1_x,road_route_31_x) unload_package(pk_4_y,truck_2_x,city3_cl1_x) deliver(pk_4_y,city3_cl1_x) pay_fees(pk_3_x) commission(truck_2_x) load_package(pk_3_x,truck_2_x,city3_cl1_x) move(truck_2_x,city3_cl1_x,ap2,road_route_31_x) unload_package(pk_3_x,truck_2_x,ap2) commission(ac1) load_package(pk_3_x,ac1,ap2) fly(ac1,ap2,ap1) unload_package(pk_3_x,ac1,ap1) move(truck_2,city2_cl1,ap1,road_route_21) commission(truck_2) load_package(pk_3_x,truck_2,ap1) move(truck_2,ap1,city1_ts1,local_roads) unload_package(pk_3_x,truck_2,city1_ts1) deliver(pk_3_x,city1_ts1) pay_fees(pk_2) commission(truck_33) load_package(pk_2,truck_33,city3_cl1) move(truck_33,city3_cl1,ap1,road_route_31) unload_package(pk_2,truck_33,ap1) commission(ac1) load_package(pk_2,ac1,ap1) fly(ac1,ap1,ap2) unload_package(pk_2,ac1,ap2) commission(truck_2_x) load_package(pk_2,truck_2_x,ap2) move(truck_2_x,ap2,city2_cl1_x,road_route_21_x) unload_package(pk_2,truck_2_x,city2_cl1_x) deliver(pk_2,city2_cl1_x) END FILE task 16: CPU Time = 80 TIME TAKEN = 0.08 SECONDS Solution SIZE = 6 Operator Used = 9 ***************************************TASK 16 SOLUTION pay_fees(pk_1) commission(truck_3) load_package(pk_1,truck_3,city3_cl1) move(truck_3,city3_cl1,ap1,road_route_31) unload_package(pk_1,truck_3,ap1) deliver(pk_1,ap1) END FILE task 17: CPU Time = 1290 TIME TAKEN = 1.29 SECONDS Solution SIZE = 7 Operator Used = 9 ***************************************TASK 17 SOLUTION pay_fees(pk_1_y) move(truck_2_y,city2_cl1_y,ap3,road_route_21_y) commission(truck_2_y) load_package(pk_1_y,truck_2_y,ap3) move(truck_2_y,ap3,city1_cl1_y,local_roads) unload_package(pk_1_y,truck_2_y,city1_cl1_y) deliver(pk_1_y,city1_cl1_y) END FILE task 18: CPU Time = 20 TIME TAKEN = 0.02 SECONDS Solution SIZE = 5 Operator Used = 7 ***************************************TASK 18 SOLUTION pay_fees(pk_1_x) commission(ac1) load_package(pk_1_x,ac1,ap2) fly(ac1,ap2,ap1) unload_package(pk_1_x,ac1,ap1) END FILE task 19: CPU Time = 3540 TIME TAKEN = 3.54 SECONDS Solution SIZE = 45 Operator Used = 63 ***************************************TASK 19 SOLUTION pay_fees(pk_5) commission(truck_3) load_package(pk_5,truck_3,city3_cl1) move(truck_3,city3_cl1,ap1,road_route_31) unload_package(pk_5,truck_3,ap1) commission(ac5) load_package(pk_5,ac5,ap1) fly(ac5,ap1,ap2) unload_package(pk_5,ac5,ap2) move(truck_2_x,city2_cl1_x,ap2,road_route_21_x) commission(truck_2_x) load_package(pk_5,truck_2_x,ap2) move(truck_2_x,ap2,city1_cl1_x,local_roads) unload_package(pk_5,truck_2_x,city1_cl1_x) deliver(pk_5,city1_cl1_x) pay_fees(pk_2_x) commission(truck_3_x) load_package(pk_2_x,truck_3_x,city3_cl1_x) move(truck_3_x,city3_cl1_x,ap2,road_route_31_x) unload_package(pk_2_x,truck_3_x,ap2) commission(ac1) load_package(pk_2_x,ac1,ap2) fly(ac1,ap2,ap3) unload_package(pk_2_x,ac1,ap3) move(truck_2_y,city2_cl1_y,ap3,road_route_21_y) commission(truck_2_y) load_package(pk_2_x,truck_2_y,ap3) move(truck_2_y,ap3,city2_cl1_y,road_route_21_y) unload_package(pk_2_x,truck_2_y,city2_cl1_y) deliver(pk_2_x,city2_cl1_y) pay_fees(pk_1) commission(truck_33) load_package(pk_1,truck_33,city3_cl1) move(truck_33,city3_cl1,ap1,road_route_31) unload_package(pk_1,truck_33,ap1) commission(ac6) load_package(pk_1,ac6,ap1) fly(ac6,ap1,ap3) unload_package(pk_1,ac6,ap3) move(truck_2_y,city2_cl1_y,ap3,road_route_21_y) commission(truck_2_y) load_package(pk_1,truck_2_y,ap3) move(truck_2_y,ap3,city1_cl1_y,local_roads) unload_package(pk_1,truck_2_y,city1_cl1_y) deliver(pk_1,city1_cl1_y) END FILE task 20: CPU Time = 2130 TIME TAKEN = 2.13 SECONDS Solution SIZE = 58 Operator Used = 84 ***************************************TASK 20 SOLUTION pay_fees(pk_4) commission(truck_1) load_package(pk_4,truck_1,city1_cl1) move(truck_1,city1_cl1,ap1,local_roads) unload_package(pk_4,truck_1,ap1) commission(ac5) load_package(pk_4,ac5,ap1) fly(ac5,ap1,ap2) unload_package(pk_4,ac5,ap2) move(truck_2_x,city2_cl1_x,ap2,road_route_21_x) commission(truck_2_x) load_package(pk_4,truck_2_x,ap2) move(truck_2_x,ap2,city3_cl1_x,road_route_31_x) unload_package(pk_4,truck_2_x,city3_cl1_x) deliver(pk_4,city3_cl1_x) pay_fees(pk_3_x) commission(truck_2_x) load_package(pk_3_x,truck_2_x,city3_cl1_x) move(truck_2_x,city3_cl1_x,ap2,road_route_31_x) unload_package(pk_3_x,truck_2_x,ap2) commission(ac1) load_package(pk_3_x,ac1,ap2) fly(ac1,ap2,ap1) unload_package(pk_3_x,ac1,ap1) commission(truck_1) load_package(pk_3_x,truck_1,ap1) move(truck_1,ap1,city1_ts1,local_roads) unload_package(pk_3_x,truck_1,city1_ts1) deliver(pk_3_x,city1_ts1) pay_fees(pk_2) commission(truck_3) load_package(pk_2,truck_3,city3_cl1) move(truck_3,city3_cl1,ap1,road_route_31) unload_package(pk_2,truck_3,ap1) commission(ac1) load_package(pk_2,ac1,ap1) fly(ac1,ap1,ap2) unload_package(pk_2,ac1,ap2) commission(truck_2_x) load_package(pk_2,truck_2_x,ap2) move(truck_2_x,ap2,city2_cl1_x,road_route_21_x) unload_package(pk_2,truck_2_x,city2_cl1_x) deliver(pk_2,city2_cl1_x) pay_fees(pk_2_y) commission(truck_3_y) load_package(pk_2_y,truck_3_y,city3_cl1_y) move(truck_3_y,city3_cl1_y,ap3,road_route_31_y) unload_package(pk_2_y,truck_3_y,ap3) commission(ac9) load_package(pk_2_y,ac9,ap3) fly(ac9,ap3,ap2) unload_package(pk_2_y,ac9,ap2) move(truck_2_x,city2_cl1_x,ap2,road_route_21_x) commission(truck_2_x) load_package(pk_2_y,truck_2_x,ap2) move(truck_2_x,ap2,city1_cl1_x,local_roads) unload_package(pk_2_y,truck_2_x,city1_cl1_x) deliver(pk_2_y,city1_cl1_x) END FILE total time 52.87 seconds total size 573 yes {source_info} | ?-