%------------------------------------------------------------------------------
% File : GKC---0.8
% Problem : SWV423-1.020 : TPTP v8.1.2. Released v3.5.0.
% Transfm : none
% Format : tptp:raw
% Command : gkc %s
% Computer : n032.cluster.edu
% Model : x86_64 x86_64
% CPU : Intel(R) Xeon(R) CPU E5-2620 v4 2.10GHz
% Memory : 8042.1875MB
% OS : Linux 3.10.0-693.el7.x86_64
% CPULimit : 300s
% WCLimit : 300s
% DateTime : Thu Aug 31 22:27:23 EDT 2023
% Result : Unsatisfiable 52.01s 7.11s
% Output : CNFRefutation 53.22s
% Verified :
% SZS Type : ERROR: Analysing output (Could not find formula named m_Robot_186)
% Comments :
%------------------------------------------------------------------------------
cnf('1',plain,
( node159(X,Y,Z)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Robot_186]) ).
cnf('2',plain,
m_Robot_v_s(c_RB,c_s),
inference(cnf_transformation,[],[m_main_7]) ).
cnf('3',plain,
m_Robot_v_s(c_RB,c_s),
inference(cnf_transformation,[],[m_main_7]) ).
cnf('4',plain,
( node159(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['1','2','3']) ).
cnf('5',plain,
( ~ succ(X,Y)
| trans(X,Y) ),
inference(cnf_transformation,[],[bound21]) ).
cnf('6',plain,
succ(s0,s1),
inference(cnf_transformation,[],[bound1]) ).
cnf('7',plain,
trans(s0,s1),
inference(resolution,[],['5','6']) ).
cnf('8',plain,
node159(c_s,s0,s1),
inference(resolution,[],['4','7']) ).
cnf('9',plain,
( ~ node159(X,Y,Z)
| node158(X,Y,Z)
| node157(X,Y)
| node156(X,Y)
| node155(X,Y)
| node154(X,Y)
| node153(X,Y)
| node152(X,Y)
| node151(X,Y)
| node150(X,Y) ),
inference(cnf_transformation,[],[m_Robot_185]) ).
cnf('10',plain,
( ~ m_state_v_RRM(X,Y,c_clockwise)
| ~ m_state_v_RRM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_33]) ).
cnf('11',plain,
m_state_v_RRM(X,s0,c_idle),
inference(cnf_transformation,[],[m_state_92]) ).
cnf('12',plain,
~ m_state_v_RRM(X,s0,c_clockwise),
inference(resolution,[],['10','11']) ).
cnf('13',plain,
( m_state_v_RRM(X,Y,c_clockwise)
| ~ node157(X,Y) ),
inference(cnf_transformation,[],[m_Robot_171]) ).
cnf('14',plain,
~ node157(X,s0),
inference(resolution,[],['12','13']) ).
cnf('15',plain,
( ~ m_state_v_A1Mag(X,Y,c_off)
| ~ m_state_v_A1Mag(X,Y,c_on) ),
inference(cnf_transformation,[],[m_state_6]) ).
cnf('16',plain,
m_state_v_A1Mag(X,s0,c_off),
inference(cnf_transformation,[],[m_state_94]) ).
cnf('17',plain,
~ m_state_v_A1Mag(X,s0,c_on),
inference(resolution,[],['15','16']) ).
cnf('18',plain,
( m_state_v_A1Mag(X,Y,c_on)
| ~ node156(X,Y) ),
inference(cnf_transformation,[],[m_Robot_164]) ).
cnf('19',plain,
~ node156(X3,s0),
inference(resolution,[],['17','18']) ).
cnf('20',plain,
( ~ m_state_v_A2Mag(X,Y,c_off)
| ~ m_state_v_A2Mag(X,Y,c_on) ),
inference(cnf_transformation,[],[m_state_12]) ).
cnf('21',plain,
m_state_v_A2Mag(X,s0,c_off),
inference(cnf_transformation,[],[m_state_95]) ).
cnf('22',plain,
~ m_state_v_A2Mag(X,s0,c_on),
inference(resolution,[],['20','21']) ).
cnf('23',plain,
( m_state_v_A2Mag(X,Y,c_on)
| ~ node155(X,Y) ),
inference(cnf_transformation,[],[m_Robot_157]) ).
cnf('24',plain,
~ node155(X3,s0),
inference(resolution,[],['22','23']) ).
cnf('25',plain,
( m_state_v_A1Mag(X,Y,c_on)
| ~ node154(X,Y) ),
inference(cnf_transformation,[],[m_Robot_148]) ).
cnf('26',plain,
~ node154(X3,s0),
inference(resolution,[],['17','25']) ).
cnf('27',plain,
( ~ m_state_v_angle(X,Y,c_arm1topress)
| ~ m_state_v_angle(X,Y,c_arm1totable) ),
inference(cnf_transformation,[],[m_state_54]) ).
cnf('28',plain,
m_state_v_angle(X,s0,c_arm1totable),
inference(cnf_transformation,[],[m_state_88]) ).
cnf('29',plain,
~ m_state_v_angle(X,s0,c_arm1topress),
inference(resolution,[],['27','28']) ).
cnf('30',plain,
( m_state_v_angle(X,Y,c_arm1topress)
| ~ node153(X,Y) ),
inference(cnf_transformation,[],[m_Robot_140]) ).
cnf('31',plain,
~ node153(X3,s0),
inference(resolution,[],['29','30']) ).
cnf('32',plain,
( ~ m_state_v_angle(X,Y,c_arm2todepbelt)
| ~ m_state_v_angle(X,Y,c_arm1totable) ),
inference(cnf_transformation,[],[m_state_53]) ).
cnf('33',plain,
~ m_state_v_angle(X,s0,c_arm2todepbelt),
inference(resolution,[],['32','28']) ).
cnf('34',plain,
( m_state_v_angle(X,Y,c_arm2todepbelt)
| ~ node152(X,Y) ),
inference(cnf_transformation,[],[m_Robot_137]) ).
cnf('35',plain,
~ node152(X3,s0),
inference(resolution,[],['33','34']) ).
cnf('36',plain,
( ~ m_state_v_A2M(X,Y,c_idle)
| ~ m_state_v_A2M(X,Y,c_retract) ),
inference(cnf_transformation,[],[m_state_10]) ).
cnf('37',plain,
m_state_v_A2M(X,s0,c_idle),
inference(cnf_transformation,[],[m_state_93]) ).
cnf('38',plain,
~ m_state_v_A2M(X,s0,c_retract),
inference(resolution,[],['36','37']) ).
cnf('39',plain,
( m_state_v_A2M(X,Y,c_retract)
| ~ node151(X,Y) ),
inference(cnf_transformation,[],[m_Robot_135]) ).
cnf('40',plain,
~ node151(X3,s0),
inference(resolution,[],['38','39']) ).
cnf('41',plain,
( ~ m_state_v_A1M(X,Y,c_idle)
| ~ m_state_v_A1M(X,Y,c_retract) ),
inference(cnf_transformation,[],[m_state_4]) ).
cnf('42',plain,
m_state_v_A1M(X,s0,c_idle),
inference(cnf_transformation,[],[m_state_87]) ).
cnf('43',plain,
~ m_state_v_A1M(X,s0,c_retract),
inference(resolution,[],['41','42']) ).
cnf('44',plain,
( m_state_v_A1M(X,Y,c_retract)
| ~ node150(X,Y) ),
inference(cnf_transformation,[],[m_Robot_132]) ).
cnf('45',plain,
~ node150(X3,s0),
inference(resolution,[],['43','44']) ).
cnf('46',plain,
( ~ node159(X,s0,Y)
| node158(X,s0,Y) ),
inference(resolution,[then_simplify],['9','14','19','24','26','31','35','40','45']) ).
cnf('47',plain,
node158(c_s,s0,s1),
inference(resolution,[],['8','46']) ).
cnf('48',plain,
( ~ node158(X,Y,Z)
| ~ m_state_v_RRM(X,Z,U)
| m_state_v_RRM(X,Y,U) ),
inference(cnf_transformation,[],[m_Robot_176]) ).
cnf('49',plain,
( ~ m_state_v_RRM(X,Y,c_counterclock)
| ~ m_state_v_RRM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_34]) ).
cnf('50',plain,
~ m_state_v_RRM(X,s0,c_counterclock),
inference(resolution,[],['49','11']) ).
cnf('51',plain,
( ~ node158(X,s0,Y)
| ~ m_state_v_RRM(X,Y,c_counterclock) ),
inference(resolution,[],['48','50']) ).
cnf('52',plain,
~ m_state_v_RRM(c_s,s1,c_counterclock),
inference(resolution,[],['47','51']) ).
cnf('53',plain,
( m_state_v_RRM(X,Y,c_counterclock)
| ~ node37(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_59]) ).
cnf('54',plain,
~ node37(c_s,s1),
inference(resolution,[],['52','53']) ).
cnf('55',plain,
( node42(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_77]) ).
cnf('56',plain,
m_Sensor_v_s(c_SEN,c_s),
inference(cnf_transformation,[],[m_main_8]) ).
cnf('57',plain,
m_Sensor_v_s(c_SEN,c_s),
inference(cnf_transformation,[],[m_main_8]) ).
cnf('58',plain,
( node42(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['55','56','57']) ).
cnf('59',plain,
succ(s1,s2),
inference(cnf_transformation,[],[bound2]) ).
cnf('60',plain,
trans(s1,s2),
inference(resolution,[],['5','59']) ).
cnf('61',plain,
node42(c_s,s1,s2),
inference(resolution,[],['58','60']) ).
cnf('62',plain,
( ~ node42(X,Y,Z)
| node41(X,Y,Z)
| node40(X,Y)
| node39(X,Y)
| node38(X,Y)
| node37(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_76]) ).
cnf('63',plain,
( node48(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_93]) ).
cnf('64',plain,
( node48(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['63','56','57']) ).
cnf('65',plain,
node48(c_s,s0,s1),
inference(resolution,[],['64','7']) ).
cnf('66',plain,
( ~ node48(X,Y,Z)
| ~ m_state_v_RRM(X,Y,c_idle)
| ~ m_state_v_angle(X,Y,c_arm1totable)
| m_state_v_angle_status(X,Z,c_arm1stoppedattable) ),
inference(cnf_transformation,[],[m_Sensor_88]) ).
cnf('67',plain,
( m_state_v_RRM(X,Y,c_counterclock)
| m_state_v_RRM(X,Y,c_clockwise)
| m_state_v_RRM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_31]) ).
cnf('68',plain,
~ m_state_v_RRM(X3,s0,c_clockwise),
inference(resolution,[],['10','11']) ).
cnf('69',plain,
m_state_v_RRM(X3,s0,c_idle),
inference(resolution,[then_simplify],['67','50','68']) ).
cnf('70',plain,
( ~ node48(X,s0,Y)
| m_state_v_angle_status(X,Y,c_arm1stoppedattable) ),
inference(resolution,[then_simplify],['66','28','69']) ).
cnf('71',plain,
m_state_v_angle_status(c_s,s1,c_arm1stoppedattable),
inference(resolution,[],['65','70']) ).
cnf('72',plain,
( ~ m_state_v_angle_status(X,Y,c_arm1stoppedatpress)
| ~ m_state_v_angle_status(X,Y,c_arm1stoppedattable) ),
inference(cnf_transformation,[],[m_state_64]) ).
cnf('73',plain,
~ m_state_v_angle_status(c_s,s1,c_arm1stoppedatpress),
inference(resolution,[],['71','72']) ).
cnf('74',plain,
( m_state_v_angle_status(X,Y,c_arm1stoppedatpress)
| ~ node40(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_69]) ).
cnf('75',plain,
~ node40(c_s,s1),
inference(resolution,[],['73','74']) ).
cnf('76',plain,
( ~ m_state_v_angle_status(X,Y,c_arm2stoppedatbelt)
| ~ m_state_v_angle_status(X,Y,c_arm1stoppedattable) ),
inference(cnf_transformation,[],[m_state_63]) ).
cnf('77',plain,
~ m_state_v_angle_status(c_s,s1,c_arm2stoppedatbelt),
inference(resolution,[],['71','76']) ).
cnf('78',plain,
( m_state_v_angle_status(X,Y,c_arm2stoppedatbelt)
| ~ node39(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_66]) ).
cnf('79',plain,
~ node39(c_s,s1),
inference(resolution,[],['77','78']) ).
cnf('80',plain,
( ~ m_state_v_angle_status(X,Y,c_arm2stoppedatpress)
| ~ m_state_v_angle_status(X,Y,c_arm1stoppedattable) ),
inference(cnf_transformation,[],[m_state_61]) ).
cnf('81',plain,
~ m_state_v_angle_status(c_s,s1,c_arm2stoppedatpress),
inference(resolution,[],['71','80']) ).
cnf('82',plain,
( m_state_v_angle_status(X,Y,c_arm2stoppedatpress)
| ~ node38(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_63]) ).
cnf('83',plain,
~ node38(c_s,s1),
inference(resolution,[],['81','82']) ).
cnf('84',plain,
( node41(c_s,s1,s2)
| node37(c_s,s1) ),
inference(resolution,[then_simplify],['61','62','75','79','83']) ).
cnf('85',plain,
node41(c_s,s1,s2),
inference(resolution,[],['54','84']) ).
cnf('86',plain,
node42(c_s,s0,s1),
inference(resolution,[],['58','7']) ).
cnf('87',plain,
( m_state_v_angle(X,Y,c_arm1topress)
| ~ node40(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_67]) ).
cnf('88',plain,
~ node40(X,s0),
inference(resolution,[],['29','87']) ).
cnf('89',plain,
( m_state_v_angle(X,Y,c_arm2todepbelt)
| ~ node39(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_64]) ).
cnf('90',plain,
~ node39(X3,s0),
inference(resolution,[],['33','89']) ).
cnf('91',plain,
( m_state_v_RRM(X,Y,c_counterclock)
| ~ node38(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_62]) ).
cnf('92',plain,
~ node38(X3,s0),
inference(resolution,[],['50','91']) ).
cnf('93',plain,
~ node37(X3,s0),
inference(resolution,[],['50','53']) ).
cnf('94',plain,
( ~ node42(X,s0,Y)
| node41(X,s0,Y) ),
inference(resolution,[then_simplify],['62','88','90','92','93']) ).
cnf('95',plain,
node41(c_s,s0,s1),
inference(resolution,[],['86','94']) ).
cnf('96',plain,
( ~ node41(X,Y,Z)
| ~ m_state_v_angle(X,Y,U)
| m_state_v_angle(X,Z,U) ),
inference(cnf_transformation,[],[m_Sensor_70]) ).
cnf('97',plain,
( ~ node41(X,s0,Y)
| m_state_v_angle(X,Y,c_arm1totable) ),
inference(resolution,[],['96','28']) ).
cnf('98',plain,
m_state_v_angle(c_s,s1,c_arm1totable),
inference(resolution,[],['95','97']) ).
cnf('99',plain,
( ~ node41(c_s,s1,X)
| m_state_v_angle(c_s,X,c_arm1totable) ),
inference(resolution,[],['98','96']) ).
cnf('100',plain,
m_state_v_angle(c_s,s2,c_arm1totable),
inference(resolution,[],['85','99']) ).
cnf('101',plain,
( ~ node41(c_s,s2,X)
| m_state_v_angle(c_s,X,c_arm1totable) ),
inference(resolution,[],['100','96']) ).
cnf('102',plain,
( ~ node158(c_s,s1,X)
| ~ m_state_v_RRM(c_s,X,c_counterclock) ),
inference(resolution,[],['52','48']) ).
cnf('103',plain,
node159(c_s,s1,s2),
inference(resolution,[],['4','60']) ).
cnf('104',plain,
( node145(X,Y,Z)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Robot_118]) ).
cnf('105',plain,
( node145(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['104','2','3']) ).
cnf('106',plain,
node145(c_s,s0,s1),
inference(resolution,[],['105','7']) ).
cnf('107',plain,
( ~ node145(X,Y,Z)
| node144(X,Y,Z)
| node143(X,Y)
| node142(X,Y) ),
inference(cnf_transformation,[],[m_Robot_117]) ).
cnf('108',plain,
( m_state_v_angle(X,Y,c_arm1topress)
| ~ node143(X,Y) ),
inference(cnf_transformation,[],[m_Robot_110]) ).
cnf('109',plain,
~ node143(X,s0),
inference(resolution,[],['29','108']) ).
cnf('110',plain,
( ~ m_state_v_A1M(X,Y,c_extend)
| ~ m_state_v_A1M(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_3]) ).
cnf('111',plain,
~ m_state_v_A1M(X,s0,c_extend),
inference(resolution,[],['110','42']) ).
cnf('112',plain,
( m_state_v_A1M(X,Y,c_extend)
| ~ node142(X,Y) ),
inference(cnf_transformation,[],[m_Robot_108]) ).
cnf('113',plain,
~ node142(X3,s0),
inference(resolution,[],['111','112']) ).
cnf('114',plain,
( ~ node145(X,s0,Y)
| node144(X,s0,Y) ),
inference(resolution,[then_simplify],['107','109','113']) ).
cnf('115',plain,
node144(c_s,s0,s1),
inference(resolution,[],['106','114']) ).
cnf('116',plain,
( ~ node144(X,Y,Z)
| ~ m_state_v_A1Mag(X,Z,U)
| m_state_v_A1Mag(X,Y,U) ),
inference(cnf_transformation,[],[m_Robot_114]) ).
cnf('117',plain,
( ~ node144(X,s0,Y)
| ~ m_state_v_A1Mag(X,Y,c_on) ),
inference(resolution,[],['116','17']) ).
cnf('118',plain,
~ m_state_v_A1Mag(c_s,s1,c_on),
inference(resolution,[],['115','117']) ).
cnf('119',plain,
~ node156(c_s,s1),
inference(resolution,[],['118','18']) ).
cnf('120',plain,
( m_state_v_A1Mag(X,Y,c_on)
| ~ node155(X,Y) ),
inference(cnf_transformation,[],[m_Robot_156]) ).
cnf('121',plain,
~ node155(c_s,s1),
inference(resolution,[],['118','120']) ).
cnf('122',plain,
~ node154(c_s,s1),
inference(resolution,[],['118','25']) ).
cnf('123',plain,
( ~ node41(X,Y,Z)
| ~ m_state_v_angle(X,Z,U)
| m_state_v_angle(X,Y,U) ),
inference(cnf_transformation,[],[m_Sensor_71]) ).
cnf('124',plain,
( ~ node41(X,s0,Y)
| ~ m_state_v_angle(X,Y,c_arm1topress) ),
inference(resolution,[],['123','29']) ).
cnf('125',plain,
~ m_state_v_angle(c_s,s1,c_arm1topress),
inference(resolution,[],['95','124']) ).
cnf('126',plain,
~ node153(c_s,s1),
inference(resolution,[],['125','30']) ).
cnf('127',plain,
( ~ node41(X,s0,Y)
| ~ m_state_v_angle(X,Y,c_arm2todepbelt) ),
inference(resolution,[],['123','33']) ).
cnf('128',plain,
~ m_state_v_angle(c_s,s1,c_arm2todepbelt),
inference(resolution,[],['95','127']) ).
cnf('129',plain,
~ node152(c_s,s1),
inference(resolution,[],['128','34']) ).
cnf('130',plain,
( ~ m_state_v_angle(X,Y,c_arm2topress)
| ~ m_state_v_angle(X,Y,c_arm1totable) ),
inference(cnf_transformation,[],[m_state_52]) ).
cnf('131',plain,
~ m_state_v_angle(X,s0,c_arm2topress),
inference(resolution,[],['130','28']) ).
cnf('132',plain,
( ~ node41(X,s0,Y)
| ~ m_state_v_angle(X,Y,c_arm2topress) ),
inference(resolution,[],['123','131']) ).
cnf('133',plain,
~ m_state_v_angle(c_s,s1,c_arm2topress),
inference(resolution,[],['95','132']) ).
cnf('134',plain,
( m_state_v_angle(X,Y,c_arm2topress)
| ~ node151(X,Y) ),
inference(cnf_transformation,[],[m_Robot_134]) ).
cnf('135',plain,
~ node151(c_s,s1),
inference(resolution,[],['133','134']) ).
cnf('136',plain,
( node131(X,Y,Z)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Robot_54]) ).
cnf('137',plain,
( node131(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['136','2','3']) ).
cnf('138',plain,
node131(c_s,s0,s1),
inference(resolution,[],['137','7']) ).
cnf('139',plain,
( ~ node131(X,Y,Z)
| node130(X,Y,Z)
| node129(X,Y)
| node128(X,Y)
| node127(X,Y)
| node126(X,Y)
| node125(X,Y)
| node124(X,Y)
| node123(X,Y)
| node122(X,Y) ),
inference(cnf_transformation,[],[m_Robot_53]) ).
cnf('140',plain,
( m_state_v_angle(X,Y,c_arm1topress)
| ~ node129(X,Y) ),
inference(cnf_transformation,[],[m_Robot_40]) ).
cnf('141',plain,
~ node129(X,s0),
inference(resolution,[],['29','140']) ).
cnf('142',plain,
( m_state_v_A1M(X,Y,c_retract)
| ~ node128(X,Y) ),
inference(cnf_transformation,[],[m_Robot_38]) ).
cnf('143',plain,
~ node128(X3,s0),
inference(resolution,[],['43','142']) ).
cnf('144',plain,
( m_state_v_angle(X,Y,c_arm1topress)
| ~ node127(X,Y) ),
inference(cnf_transformation,[],[m_Robot_33]) ).
cnf('145',plain,
~ node127(X3,s0),
inference(resolution,[],['29','144']) ).
cnf('146',plain,
( m_state_v_A1Mag(X,Y,c_on)
| ~ node126(X,Y) ),
inference(cnf_transformation,[],[m_Robot_32]) ).
cnf('147',plain,
~ node126(X3,s0),
inference(resolution,[],['17','146']) ).
cnf('148',plain,
( m_state_v_angle(X,Y,c_arm1topress)
| ~ node125(X,Y) ),
inference(cnf_transformation,[],[m_Robot_26]) ).
cnf('149',plain,
~ node125(X3,s0),
inference(resolution,[],['29','148']) ).
cnf('150',plain,
( m_state_v_A1M(X,Y,c_extend)
| ~ node124(X,Y) ),
inference(cnf_transformation,[],[m_Robot_24]) ).
cnf('151',plain,
~ node124(X3,s0),
inference(resolution,[],['111','150']) ).
cnf('152',plain,
( ~ node123(X,Y)
| ~ m_state_v_pl(X,Y) ),
inference(cnf_transformation,[],[m_Robot_22]) ).
cnf('153',plain,
m_state_v_pl(X,s0),
inference(cnf_transformation,[],[m_state_99]) ).
cnf('154',plain,
~ node123(X3,s0),
inference(resolution,[],['152','153']) ).
cnf('155',plain,
( ~ node122(X,Y)
| m_state_v_topPos(X,Y) ),
inference(cnf_transformation,[],[m_Robot_9]) ).
cnf('156',plain,
~ m_state_v_topPos(X,s0),
inference(cnf_transformation,[],[m_state_86]) ).
cnf('157',plain,
~ node122(X3,s0),
inference(resolution,[],['155','156']) ).
cnf('158',plain,
( ~ node131(X,s0,Y)
| node130(X,s0,Y) ),
inference(resolution,[then_simplify],['139','141','143','145','147','149','151','154','157']) ).
cnf('159',plain,
node130(c_s,s0,s1),
inference(resolution,[],['138','158']) ).
cnf('160',plain,
( ~ node130(X,Y,Z)
| ~ m_state_v_A1M(X,Z,U)
| m_state_v_A1M(X,Y,U) ),
inference(cnf_transformation,[],[m_Robot_44]) ).
cnf('161',plain,
( ~ node130(X,s0,Y)
| ~ m_state_v_A1M(X,Y,c_retract) ),
inference(resolution,[],['160','43']) ).
cnf('162',plain,
~ m_state_v_A1M(c_s,s1,c_retract),
inference(resolution,[],['159','161']) ).
cnf('163',plain,
~ node150(c_s,s1),
inference(resolution,[],['162','44']) ).
cnf('164',plain,
( node158(c_s,s1,s2)
| node157(c_s,s1) ),
inference(resolution,[then_simplify],['103','9','119','121','122','126','129','135','163']) ).
cnf('165',plain,
( ~ node158(X,s0,Y)
| ~ m_state_v_RRM(X,Y,c_clockwise) ),
inference(resolution,[],['48','12']) ).
cnf('166',plain,
~ m_state_v_RRM(c_s,s1,c_clockwise),
inference(resolution,[],['47','165']) ).
cnf('167',plain,
~ node157(c_s,s1),
inference(resolution,[],['166','13']) ).
cnf('168',plain,
node158(c_s,s1,s2),
inference(simplify,[],['164','167']) ).
cnf('169',plain,
~ m_state_v_RRM(c_s,s2,c_counterclock),
inference(resolution,[],['102','168']) ).
cnf('170',plain,
~ node37(c_s,s2),
inference(resolution,[],['169','53']) ).
cnf('171',plain,
( ~ node41(c_s,s1,X)
| ~ m_state_v_angle(c_s,X,c_arm1topress) ),
inference(resolution,[],['125','123']) ).
cnf('172',plain,
~ m_state_v_angle(c_s,s2,c_arm1topress),
inference(resolution,[],['85','171']) ).
cnf('173',plain,
~ node40(c_s,s2),
inference(resolution,[],['172','87']) ).
cnf('174',plain,
succ(s2,s3),
inference(cnf_transformation,[],[bound3]) ).
cnf('175',plain,
trans(s2,s3),
inference(resolution,[],['5','174']) ).
cnf('176',plain,
node42(c_s,s2,s3),
inference(resolution,[],['58','175']) ).
cnf('177',plain,
( node41(c_s,s2,s3)
| node37(c_s,s2)
| node38(c_s,s2)
| node39(c_s,s2)
| node40(c_s,s2) ),
inference(resolution,[],['176','62']) ).
cnf('178',plain,
( ~ node41(c_s,s1,X)
| ~ m_state_v_angle(c_s,X,c_arm2topress) ),
inference(resolution,[],['133','123']) ).
cnf('179',plain,
~ m_state_v_angle(c_s,s2,c_arm2topress),
inference(resolution,[],['85','178']) ).
cnf('180',plain,
( m_state_v_angle(X,Y,c_arm2topress)
| ~ node38(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_61]) ).
cnf('181',plain,
~ node38(c_s,s2),
inference(resolution,[],['179','180']) ).
cnf('182',plain,
( ~ node41(c_s,s1,X)
| ~ m_state_v_angle(c_s,X,c_arm2todepbelt) ),
inference(resolution,[],['128','123']) ).
cnf('183',plain,
~ m_state_v_angle(c_s,s2,c_arm2todepbelt),
inference(resolution,[],['85','182']) ).
cnf('184',plain,
~ node39(c_s,s2),
inference(resolution,[],['183','89']) ).
cnf('185',plain,
( node41(c_s,s2,s3)
| node37(c_s,s2) ),
inference(resolution,[then_simplify],['173','177','181','184']) ).
cnf('186',plain,
node41(c_s,s2,s3),
inference(resolution,[],['170','185']) ).
cnf('187',plain,
m_state_v_angle(c_s,s3,c_arm1totable),
inference(resolution,[],['101','186']) ).
cnf('188',plain,
( ~ node41(c_s,s3,X)
| m_state_v_angle(c_s,X,c_arm1totable) ),
inference(resolution,[],['187','96']) ).
cnf('189',plain,
( ~ node158(c_s,s1,X)
| ~ m_state_v_RRM(c_s,X,c_clockwise) ),
inference(resolution,[],['166','48']) ).
cnf('190',plain,
~ m_state_v_RRM(c_s,s2,c_clockwise),
inference(resolution,[],['189','168']) ).
cnf('191',plain,
~ node157(c_s,s2),
inference(resolution,[],['190','13']) ).
cnf('192',plain,
node159(c_s,s2,s3),
inference(resolution,[],['4','175']) ).
cnf('193',plain,
node145(c_s,s1,s2),
inference(resolution,[],['105','60']) ).
cnf('194',plain,
( node32(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_46]) ).
cnf('195',plain,
( node32(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['194','56','57']) ).
cnf('196',plain,
node32(c_s,s0,s1),
inference(resolution,[],['195','7']) ).
cnf('197',plain,
( ~ node32(X,Y,Z)
| node31(X,Y,Z)
| m_state_v_A1M(X,Y,c_retract)
| node30(X,Y)
| node29(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_45]) ).
cnf('198',plain,
( m_state_v_angle(X,Y,c_arm1topress)
| ~ node30(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_39]) ).
cnf('199',plain,
~ node30(X3,s0),
inference(resolution,[],['29','198']) ).
cnf('200',plain,
( m_state_v_A1M(X,Y,c_extend)
| ~ node29(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_36]) ).
cnf('201',plain,
~ node29(X3,s0),
inference(resolution,[],['111','200']) ).
cnf('202',plain,
( ~ node32(X,s0,Y)
| node31(X,s0,Y) ),
inference(resolution,[then_simplify],['197','43','199','201']) ).
cnf('203',plain,
node31(c_s,s0,s1),
inference(resolution,[],['196','202']) ).
cnf('204',plain,
( ~ node31(X,Y,Z)
| ~ m_state_v_a1ext(X,Z,U)
| m_state_v_a1ext(X,Y,U) ),
inference(cnf_transformation,[],[m_Sensor_41]) ).
cnf('205',plain,
( ~ m_state_v_a1ext(X,Y,c_a1ip)
| ~ m_state_v_a1ext(X,Y,c_retracted) ),
inference(cnf_transformation,[],[m_state_45]) ).
cnf('206',plain,
m_state_v_a1ext(X,s0,c_retracted),
inference(cnf_transformation,[],[m_state_90]) ).
cnf('207',plain,
~ m_state_v_a1ext(X,s0,c_a1ip),
inference(resolution,[],['205','206']) ).
cnf('208',plain,
( ~ node31(X,s0,Y)
| ~ m_state_v_a1ext(X,Y,c_a1ip) ),
inference(resolution,[],['204','207']) ).
cnf('209',plain,
~ m_state_v_a1ext(c_s,s1,c_a1ip),
inference(resolution,[],['203','208']) ).
cnf('210',plain,
( m_state_v_a1ext(X,Y,c_a1ip)
| ~ node143(X,Y) ),
inference(cnf_transformation,[],[m_Robot_112]) ).
cnf('211',plain,
~ node143(c_s,s1),
inference(resolution,[],['209','210']) ).
cnf('212',plain,
( ~ m_state_v_a1ext(X,Y,c_ot)
| ~ m_state_v_a1ext(X,Y,c_retracted) ),
inference(cnf_transformation,[],[m_state_46]) ).
cnf('213',plain,
~ m_state_v_a1ext(X,s0,c_ot),
inference(resolution,[],['212','206']) ).
cnf('214',plain,
( ~ node31(X,s0,Y)
| ~ m_state_v_a1ext(X,Y,c_ot) ),
inference(resolution,[],['204','213']) ).
cnf('215',plain,
~ m_state_v_a1ext(c_s,s1,c_ot),
inference(resolution,[],['203','214']) ).
cnf('216',plain,
( m_state_v_a1ext(X,Y,c_ot)
| ~ node142(X,Y) ),
inference(cnf_transformation,[],[m_Robot_109]) ).
cnf('217',plain,
~ node142(c_s,s1),
inference(resolution,[],['215','216']) ).
cnf('218',plain,
node144(c_s,s1,s2),
inference(resolution,[then_simplify],['193','107','211','217']) ).
cnf('219',plain,
( ~ node144(X,Y,Z)
| ~ m_state_v_A1Mag(X,Y,U)
| m_state_v_A1Mag(X,Z,U) ),
inference(cnf_transformation,[],[m_Robot_113]) ).
cnf('220',plain,
( ~ m_state_v_A1Mag(c_s,s1,X)
| m_state_v_A1Mag(c_s,s2,X) ),
inference(resolution,[],['218','219']) ).
cnf('221',plain,
( m_state_v_A1Mag(X,Y,c_off)
| m_state_v_A1Mag(X,Y,c_on) ),
inference(cnf_transformation,[],[m_state_5]) ).
cnf('222',plain,
m_state_v_A1Mag(X,s0,c_off),
inference(resolution,[],['17','221']) ).
cnf('223',plain,
( ~ node144(X,s0,Y)
| m_state_v_A1Mag(X,Y,c_off) ),
inference(resolution,[],['219','222']) ).
cnf('224',plain,
m_state_v_A1Mag(c_s,s1,c_off),
inference(resolution,[],['115','223']) ).
cnf('225',plain,
m_state_v_A1Mag(c_s,s2,c_off),
inference(resolution,[],['220','224']) ).
cnf('226',plain,
~ m_state_v_A1Mag(c_s,s2,c_on),
inference(resolution,[],['225','15']) ).
cnf('227',plain,
~ node156(c_s,s2),
inference(resolution,[],['226','18']) ).
cnf('228',plain,
~ node155(c_s,s2),
inference(resolution,[],['226','120']) ).
cnf('229',plain,
~ node154(c_s,s2),
inference(resolution,[],['226','25']) ).
cnf('230',plain,
( ~ node130(X,Y,Z)
| ~ m_state_v_A1M(X,Y,U)
| m_state_v_A1M(X,Z,U) ),
inference(cnf_transformation,[],[m_Robot_43]) ).
cnf('231',plain,
( ~ node130(X,s0,Y)
| m_state_v_A1M(X,Y,c_idle) ),
inference(resolution,[],['230','42']) ).
cnf('232',plain,
m_state_v_A1M(c_s,s1,c_idle),
inference(resolution,[],['159','231']) ).
cnf('233',plain,
( ~ node130(c_s,s1,X)
| m_state_v_A1M(c_s,X,c_idle) ),
inference(resolution,[],['232','230']) ).
cnf('234',plain,
node131(c_s,s1,s2),
inference(resolution,[],['137','60']) ).
cnf('235',plain,
~ node129(c_s,s1),
inference(resolution,[],['125','140']) ).
cnf('236',plain,
( m_state_v_a1ext(X,Y,c_a1ip)
| ~ node127(X,Y) ),
inference(cnf_transformation,[],[m_Robot_34]) ).
cnf('237',plain,
~ node127(c_s,s1),
inference(resolution,[],['209','236']) ).
cnf('238',plain,
( m_state_v_a1ext(X,Y,c_ot)
| ~ node126(X,Y) ),
inference(cnf_transformation,[],[m_Robot_30]) ).
cnf('239',plain,
~ node126(c_s,s1),
inference(resolution,[],['215','238']) ).
cnf('240',plain,
( m_state_v_a1ext(X,Y,c_a1ip)
| ~ node125(X,Y) ),
inference(cnf_transformation,[],[m_Robot_28]) ).
cnf('241',plain,
~ node125(c_s,s1),
inference(resolution,[],['209','240']) ).
cnf('242',plain,
( m_state_v_a1ext(X,Y,c_ot)
| ~ node124(X,Y) ),
inference(cnf_transformation,[],[m_Robot_25]) ).
cnf('243',plain,
~ node124(c_s,s1),
inference(resolution,[],['215','242']) ).
cnf('244',plain,
( node56(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_115]) ).
cnf('245',plain,
( node56(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['244','56','57']) ).
cnf('246',plain,
node56(c_s,s0,s1),
inference(resolution,[],['245','7']) ).
cnf('247',plain,
( ~ node56(X,Y,Z)
| node55(X,Y,Z)
| node54(X,Y)
| node53(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_114]) ).
cnf('248',plain,
( ~ node54(X,Y)
| m_state_v_midPosP(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_107]) ).
cnf('249',plain,
~ m_state_v_midPosP(X,s0),
inference(cnf_transformation,[],[m_state_97]) ).
cnf('250',plain,
~ node54(X,s0),
inference(resolution,[],['248','249']) ).
cnf('251',plain,
( ~ m_state_v_PM(X,Y,c_idle)
| ~ m_state_v_PM(X,Y,c_up) ),
inference(cnf_transformation,[],[m_state_29]) ).
cnf('252',plain,
m_state_v_PM(X,s0,c_idle),
inference(cnf_transformation,[],[m_state_100]) ).
cnf('253',plain,
~ m_state_v_PM(X,s0,c_up),
inference(resolution,[],['251','252']) ).
cnf('254',plain,
( m_state_v_PM(X,Y,c_up)
| ~ node53(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_106]) ).
cnf('255',plain,
~ node53(X3,s0),
inference(resolution,[],['253','254']) ).
cnf('256',plain,
( ~ node56(X,s0,Y)
| node55(X,s0,Y) ),
inference(resolution,[then_simplify],['247','250','255']) ).
cnf('257',plain,
node55(c_s,s0,s1),
inference(resolution,[],['246','256']) ).
cnf('258',plain,
( ~ node55(X,Y,Z)
| ~ m_state_v_midPosP(X,Z)
| m_state_v_midPosP(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_111]) ).
cnf('259',plain,
( ~ node55(X,s0,Y)
| ~ m_state_v_midPosP(X,Y) ),
inference(resolution,[],['258','249']) ).
cnf('260',plain,
~ m_state_v_midPosP(c_s,s1),
inference(resolution,[],['257','259']) ).
cnf('261',plain,
( ~ node123(X,Y)
| m_state_v_midPosP(X,Y) ),
inference(cnf_transformation,[],[m_Robot_20]) ).
cnf('262',plain,
~ node123(c_s,s1),
inference(resolution,[],['260','261']) ).
cnf('263',plain,
( node22(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_17]) ).
cnf('264',plain,
( node22(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['263','56','57']) ).
cnf('265',plain,
node22(c_s,s0,s1),
inference(resolution,[],['264','7']) ).
cnf('266',plain,
( ~ node22(X,Y,Z)
| m_state_v_TEM(X,Y,c_down)
| m_state_v_TEM(X,Y,c_up)
| node21(X,Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_16]) ).
cnf('267',plain,
( ~ m_state_v_TEM(X,Y,c_down)
| ~ m_state_v_TEM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_38]) ).
cnf('268',plain,
m_state_v_TEM(X,s0,c_idle),
inference(cnf_transformation,[],[m_state_82]) ).
cnf('269',plain,
~ m_state_v_TEM(X,s0,c_down),
inference(resolution,[],['267','268']) ).
cnf('270',plain,
( ~ m_state_v_TEM(X,Y,c_idle)
| ~ m_state_v_TEM(X,Y,c_up) ),
inference(cnf_transformation,[],[m_state_37]) ).
cnf('271',plain,
~ m_state_v_TEM(X3,s0,c_up),
inference(resolution,[],['270','268']) ).
cnf('272',plain,
( ~ node22(X,s0,Y)
| node21(X,s0,Y) ),
inference(resolution,[then_simplify],['266','269','271']) ).
cnf('273',plain,
node21(c_s,s0,s1),
inference(resolution,[],['265','272']) ).
cnf('274',plain,
( ~ node21(X,Y,Z)
| ~ m_state_v_topPos(X,Z)
| m_state_v_topPos(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_13]) ).
cnf('275',plain,
( ~ node21(X,s0,Y)
| ~ m_state_v_topPos(X,Y) ),
inference(resolution,[],['274','156']) ).
cnf('276',plain,
~ m_state_v_topPos(c_s,s1),
inference(resolution,[],['273','275']) ).
cnf('277',plain,
~ node122(c_s,s1),
inference(resolution,[],['276','155']) ).
cnf('278',plain,
( node130(c_s,s1,s2)
| node128(c_s,s1) ),
inference(resolution,[then_simplify],['234','139','235','237','239','241','243','262','277']) ).
cnf('279',plain,
~ node128(c_s,s1),
inference(resolution,[],['162','142']) ).
cnf('280',plain,
node130(c_s,s1,s2),
inference(simplify,[],['278','279']) ).
cnf('281',plain,
m_state_v_A1M(c_s,s2,c_idle),
inference(resolution,[],['233','280']) ).
cnf('282',plain,
~ m_state_v_A1M(c_s,s2,c_retract),
inference(resolution,[],['281','41']) ).
cnf('283',plain,
( m_state_v_A1M(X,Y,c_retract)
| ~ node153(X,Y) ),
inference(cnf_transformation,[],[m_Robot_141]) ).
cnf('284',plain,
~ node153(c_s,s2),
inference(resolution,[],['282','283']) ).
cnf('285',plain,
( node141(X,Y,Z)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Robot_106]) ).
cnf('286',plain,
( node141(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['285','2','3']) ).
cnf('287',plain,
node141(c_s,s1,s2),
inference(resolution,[],['286','60']) ).
cnf('288',plain,
( ~ node141(X,Y,Z)
| node140(X,Y,Z)
| node139(X,Y)
| node138(X,Y)
| node137(X,Y)
| node136(X,Y)
| node135(X,Y)
| node134(X,Y)
| node133(X,Y)
| node132(X,Y) ),
inference(cnf_transformation,[],[m_Robot_105]) ).
cnf('289',plain,
( m_state_v_angle(X,Y,c_arm2todepbelt)
| ~ node139(X,Y) ),
inference(cnf_transformation,[],[m_Robot_92]) ).
cnf('290',plain,
~ node139(c_s,s1),
inference(resolution,[],['128','289']) ).
cnf('291',plain,
( m_state_v_angle(X,Y,c_arm2topress)
| ~ node138(X,Y) ),
inference(cnf_transformation,[],[m_Robot_89]) ).
cnf('292',plain,
~ node138(c_s,s1),
inference(resolution,[],['133','291']) ).
cnf('293',plain,
( node36(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_57]) ).
cnf('294',plain,
( node36(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['293','56','57']) ).
cnf('295',plain,
node36(c_s,s0,s1),
inference(resolution,[],['294','7']) ).
cnf('296',plain,
( ~ node36(X,Y,Z)
| node35(X,Y,Z)
| m_state_v_A2M(X,Y,c_retract)
| node34(X,Y)
| node33(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_56]) ).
cnf('297',plain,
( m_state_v_angle(X,Y,c_arm2todepbelt)
| ~ node34(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_50]) ).
cnf('298',plain,
~ node34(X3,s0),
inference(resolution,[],['33','297']) ).
cnf('299',plain,
( ~ m_state_v_A2M(X,Y,c_extend)
| ~ m_state_v_A2M(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_9]) ).
cnf('300',plain,
~ m_state_v_A2M(X,s0,c_extend),
inference(resolution,[],['299','37']) ).
cnf('301',plain,
( m_state_v_A2M(X,Y,c_extend)
| ~ node33(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_47]) ).
cnf('302',plain,
~ node33(X3,s0),
inference(resolution,[],['300','301']) ).
cnf('303',plain,
( ~ node36(X,s0,Y)
| node35(X,s0,Y) ),
inference(resolution,[then_simplify],['296','38','298','302']) ).
cnf('304',plain,
node35(c_s,s0,s1),
inference(resolution,[],['295','303']) ).
cnf('305',plain,
( ~ node35(X,Y,Z)
| ~ m_state_v_a2ext(X,Z,U)
| m_state_v_a2ext(X,Y,U) ),
inference(cnf_transformation,[],[m_Sensor_52]) ).
cnf('306',plain,
( ~ m_state_v_a2ext(X,Y,c_ob)
| ~ m_state_v_a2ext(X,Y,c_retracted) ),
inference(cnf_transformation,[],[m_state_50]) ).
cnf('307',plain,
m_state_v_a2ext(X,s0,c_retracted),
inference(cnf_transformation,[],[m_state_91]) ).
cnf('308',plain,
~ m_state_v_a2ext(X,s0,c_ob),
inference(resolution,[],['306','307']) ).
cnf('309',plain,
( ~ node35(X,s0,Y)
| ~ m_state_v_a2ext(X,Y,c_ob) ),
inference(resolution,[],['305','308']) ).
cnf('310',plain,
~ m_state_v_a2ext(c_s,s1,c_ob),
inference(resolution,[],['304','309']) ).
cnf('311',plain,
( m_state_v_a2ext(X,Y,c_ob)
| ~ node137(X,Y) ),
inference(cnf_transformation,[],[m_Robot_86]) ).
cnf('312',plain,
~ node137(c_s,s1),
inference(resolution,[],['310','311']) ).
cnf('313',plain,
( ~ m_state_v_a2ext(X,Y,c_a2ip)
| ~ m_state_v_a2ext(X,Y,c_retracted) ),
inference(cnf_transformation,[],[m_state_49]) ).
cnf('314',plain,
~ m_state_v_a2ext(X,s0,c_a2ip),
inference(resolution,[],['313','307']) ).
cnf('315',plain,
( ~ node35(X,s0,Y)
| ~ m_state_v_a2ext(X,Y,c_a2ip) ),
inference(resolution,[],['305','314']) ).
cnf('316',plain,
~ m_state_v_a2ext(c_s,s1,c_a2ip),
inference(resolution,[],['304','315']) ).
cnf('317',plain,
( m_state_v_a2ext(X,Y,c_a2ip)
| ~ node136(X,Y) ),
inference(cnf_transformation,[],[m_Robot_82]) ).
cnf('318',plain,
~ node136(c_s,s1),
inference(resolution,[],['316','317']) ).
cnf('319',plain,
( m_state_v_a2ext(X,Y,c_ob)
| ~ node135(X,Y) ),
inference(cnf_transformation,[],[m_Robot_80]) ).
cnf('320',plain,
~ node135(c_s,s1),
inference(resolution,[],['310','319']) ).
cnf('321',plain,
( m_state_v_a2ext(X,Y,c_a2ip)
| ~ node134(X,Y) ),
inference(cnf_transformation,[],[m_Robot_77]) ).
cnf('322',plain,
~ node134(c_s,s1),
inference(resolution,[],['316','321']) ).
cnf('323',plain,
( node8(X,Y,Z)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Communication_23]) ).
cnf('324',plain,
m_Communication_v_s(c_COM,c_s),
inference(cnf_transformation,[],[m_main_1]) ).
cnf('325',plain,
m_Communication_v_s(c_COM,c_s),
inference(cnf_transformation,[],[m_main_1]) ).
cnf('326',plain,
( node8(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['323','324','325']) ).
cnf('327',plain,
node8(c_s,s0,s1),
inference(resolution,[],['326','7']) ).
cnf('328',plain,
( ~ node8(X,Y,Z)
| node7(X,Y,Z)
| node6(X,Y)
| node5(X,Y) ),
inference(cnf_transformation,[],[m_Communication_22]) ).
cnf('329',plain,
( m_state_v_angle(X,Y,c_arm2todepbelt)
| ~ node6(X,Y) ),
inference(cnf_transformation,[],[m_Communication_15]) ).
cnf('330',plain,
~ node6(X,s0),
inference(resolution,[],['33','329']) ).
cnf('331',plain,
( ~ m_state_v_CVM(X,Y,c_idle)
| ~ m_state_v_CVM(X,Y,c_up) ),
inference(cnf_transformation,[],[m_state_21]) ).
cnf('332',plain,
m_state_v_CVM(X,s0,c_idle),
inference(cnf_transformation,[],[m_state_111]) ).
cnf('333',plain,
~ m_state_v_CVM(X,s0,c_up),
inference(resolution,[],['331','332']) ).
cnf('334',plain,
( m_state_v_CVM(X,Y,c_up)
| ~ node5(X,Y) ),
inference(cnf_transformation,[],[m_Communication_13]) ).
cnf('335',plain,
~ node5(X3,s0),
inference(resolution,[],['333','334']) ).
cnf('336',plain,
( ~ node8(X,s0,Y)
| node7(X,s0,Y) ),
inference(resolution,[then_simplify],['328','330','335']) ).
cnf('337',plain,
node7(c_s,s0,s1),
inference(resolution,[],['327','336']) ).
cnf('338',plain,
( ~ node7(X,Y,Z)
| ~ m_state_v_brl(X,Z)
| m_state_v_brl(X,Y) ),
inference(cnf_transformation,[],[m_Communication_19]) ).
cnf('339',plain,
~ m_state_v_brl(X,s0),
inference(cnf_transformation,[],[m_state_96]) ).
cnf('340',plain,
( ~ node7(X,s0,Y)
| ~ m_state_v_brl(X,Y) ),
inference(resolution,[],['338','339']) ).
cnf('341',plain,
~ m_state_v_brl(c_s,s1),
inference(resolution,[],['337','340']) ).
cnf('342',plain,
( ~ node133(X,Y)
| m_state_v_brl(X,Y) ),
inference(cnf_transformation,[],[m_Robot_74]) ).
cnf('343',plain,
~ node133(c_s,s1),
inference(resolution,[],['341','342']) ).
cnf('344',plain,
( m_state_v_A1Mag(X,Y,c_on)
| ~ node132(X,Y) ),
inference(cnf_transformation,[],[m_Robot_61]) ).
cnf('345',plain,
~ node132(c_s,s1),
inference(resolution,[],['118','344']) ).
cnf('346',plain,
node140(c_s,s1,s2),
inference(resolution,[then_simplify],['287','288','290','292','312','318','320','322','343','345']) ).
cnf('347',plain,
( ~ node140(X,Y,Z)
| ~ m_state_v_A2M(X,Z,U)
| m_state_v_A2M(X,Y,U) ),
inference(cnf_transformation,[],[m_Robot_96]) ).
cnf('348',plain,
( ~ m_state_v_A2M(c_s,s2,X)
| m_state_v_A2M(c_s,s1,X) ),
inference(resolution,[],['346','347']) ).
cnf('349',plain,
node141(c_s,s0,s1),
inference(resolution,[],['286','7']) ).
cnf('350',plain,
~ node139(X,s0),
inference(resolution,[],['33','289']) ).
cnf('351',plain,
( m_state_v_A2M(X,Y,c_retract)
| ~ node138(X,Y) ),
inference(cnf_transformation,[],[m_Robot_90]) ).
cnf('352',plain,
~ node138(X3,s0),
inference(resolution,[],['38','351']) ).
cnf('353',plain,
( m_state_v_angle(X,Y,c_arm2todepbelt)
| ~ node137(X,Y) ),
inference(cnf_transformation,[],[m_Robot_85]) ).
cnf('354',plain,
~ node137(X3,s0),
inference(resolution,[],['33','353']) ).
cnf('355',plain,
( m_state_v_A2Mag(X,Y,c_on)
| ~ node136(X,Y) ),
inference(cnf_transformation,[],[m_Robot_84]) ).
cnf('356',plain,
~ node136(X3,s0),
inference(resolution,[],['22','355']) ).
cnf('357',plain,
( m_state_v_angle(X,Y,c_arm2todepbelt)
| ~ node135(X,Y) ),
inference(cnf_transformation,[],[m_Robot_78]) ).
cnf('358',plain,
~ node135(X3,s0),
inference(resolution,[],['33','357']) ).
cnf('359',plain,
( m_state_v_A2M(X,Y,c_extend)
| ~ node134(X,Y) ),
inference(cnf_transformation,[],[m_Robot_76]) ).
cnf('360',plain,
~ node134(X3,s0),
inference(resolution,[],['300','359']) ).
cnf('361',plain,
~ node133(X3,s0),
inference(resolution,[],['342','339']) ).
cnf('362',plain,
~ node132(X3,s0),
inference(resolution,[],['17','344']) ).
cnf('363',plain,
( ~ node141(X,s0,Y)
| node140(X,s0,Y) ),
inference(resolution,[then_simplify],['288','350','352','354','356','358','360','361','362']) ).
cnf('364',plain,
node140(c_s,s0,s1),
inference(resolution,[],['349','363']) ).
cnf('365',plain,
( ~ node140(X,s0,Y)
| ~ m_state_v_A2M(X,Y,c_retract) ),
inference(resolution,[],['347','38']) ).
cnf('366',plain,
~ m_state_v_A2M(c_s,s1,c_retract),
inference(resolution,[],['364','365']) ).
cnf('367',plain,
~ m_state_v_A2M(c_s,s2,c_retract),
inference(resolution,[],['348','366']) ).
cnf('368',plain,
( m_state_v_A2M(X,Y,c_retract)
| ~ node152(X,Y) ),
inference(cnf_transformation,[],[m_Robot_138]) ).
cnf('369',plain,
~ node152(c_s,s2),
inference(resolution,[],['367','368']) ).
cnf('370',plain,
~ node151(c_s,s2),
inference(resolution,[],['367','39']) ).
cnf('371',plain,
~ node150(c_s,s2),
inference(resolution,[],['282','44']) ).
cnf('372',plain,
( node158(c_s,s2,s3)
| node157(c_s,s2) ),
inference(resolution,[then_simplify],['192','9','227','228','229','284','369','370','371']) ).
cnf('373',plain,
node158(c_s,s2,s3),
inference(resolution,[],['191','372']) ).
cnf('374',plain,
( ~ m_state_v_RRM(c_s,s3,X)
| m_state_v_RRM(c_s,s2,X) ),
inference(resolution,[],['373','48']) ).
cnf('375',plain,
~ m_state_v_RRM(c_s,s3,c_counterclock),
inference(resolution,[],['374','169']) ).
cnf('376',plain,
~ node37(c_s,s3),
inference(resolution,[],['375','53']) ).
cnf('377',plain,
~ m_state_v_RRM(c_s,s2,c_clockwise),
inference(resolution,[],['189','168']) ).
cnf('378',plain,
m_state_v_RRM(c_s,s2,c_idle),
inference(resolution,[then_simplify],['169','67','377']) ).
cnf('379',plain,
node48(c_s,s2,s3),
inference(resolution,[],['64','175']) ).
cnf('380',plain,
( ~ m_state_v_angle(c_s,s2,c_arm1totable)
| ~ m_state_v_RRM(c_s,s2,c_idle)
| m_state_v_angle_status(c_s,s3,c_arm1stoppedattable) ),
inference(resolution,[],['379','66']) ).
cnf('381',plain,
m_state_v_angle(c_s,s2,c_arm1totable),
inference(resolution,[],['85','99']) ).
cnf('382',plain,
m_state_v_angle_status(c_s,s3,c_arm1stoppedattable),
inference(resolution,[then_simplify],['378','380','381']) ).
cnf('383',plain,
~ m_state_v_angle_status(c_s,s3,c_arm1stoppedatpress),
inference(resolution,[],['382','72']) ).
cnf('384',plain,
~ node40(c_s,s3),
inference(resolution,[],['383','74']) ).
cnf('385',plain,
succ(s3,s4),
inference(cnf_transformation,[],[bound4]) ).
cnf('386',plain,
trans(s3,s4),
inference(resolution,[],['5','385']) ).
cnf('387',plain,
node42(c_s,s3,s4),
inference(resolution,[],['58','386']) ).
cnf('388',plain,
( node41(c_s,s3,s4)
| node37(c_s,s3)
| node38(c_s,s3)
| node39(c_s,s3)
| node40(c_s,s3) ),
inference(resolution,[],['387','62']) ).
cnf('389',plain,
~ m_state_v_angle_status(c_s,s3,c_arm2stoppedatpress),
inference(resolution,[],['382','80']) ).
cnf('390',plain,
~ node38(c_s,s3),
inference(resolution,[],['389','82']) ).
cnf('391',plain,
~ m_state_v_angle_status(c_s,s3,c_arm2stoppedatbelt),
inference(resolution,[],['382','76']) ).
cnf('392',plain,
~ node39(c_s,s3),
inference(resolution,[],['391','78']) ).
cnf('393',plain,
( node41(c_s,s3,s4)
| node37(c_s,s3) ),
inference(resolution,[then_simplify],['384','388','390','392']) ).
cnf('394',plain,
node41(c_s,s3,s4),
inference(resolution,[],['376','393']) ).
cnf('395',plain,
m_state_v_angle(c_s,s4,c_arm1totable),
inference(resolution,[],['188','394']) ).
cnf('396',plain,
( ~ node41(c_s,s4,X)
| m_state_v_angle(c_s,X,c_arm1totable) ),
inference(resolution,[],['395','96']) ).
cnf('397',plain,
( ~ node158(c_s,s3,X)
| ~ m_state_v_RRM(c_s,X,c_counterclock) ),
inference(resolution,[],['375','48']) ).
cnf('398',plain,
( ~ node131(X,Y,Z)
| ~ m_state_v_A2Mag(X,Y,c_off)
| ~ m_state_v_A1Mag(X,Y,c_off)
| ~ m_state_v_RRM(X,Y,c_idle)
| ~ m_state_v_a2ext(X,Y,c_retracted)
| ~ m_state_v_A2M(X,Y,c_idle)
| ~ m_state_v_a1ext(X,Y,c_retracted)
| ~ m_state_v_A1M(X,Y,c_idle)
| ~ m_state_v_angle(X,Y,c_arm1totable)
| m_state_v_A1M(X,Z,c_extend)
| ~ m_state_v_maxRot(X,Y)
| ~ m_state_v_topPos(X,Y)
| ~ m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_Robot_45]) ).
cnf('399',plain,
( node149(X,Y,Z)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Robot_130]) ).
cnf('400',plain,
( node149(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['399','2','3']) ).
cnf('401',plain,
node149(c_s,s1,s2),
inference(resolution,[],['400','60']) ).
cnf('402',plain,
( ~ node149(X,Y,Z)
| node148(X,Y,Z)
| node147(X,Y)
| node146(X,Y) ),
inference(cnf_transformation,[],[m_Robot_129]) ).
cnf('403',plain,
( m_state_v_a2ext(X,Y,c_ob)
| ~ node147(X,Y) ),
inference(cnf_transformation,[],[m_Robot_124]) ).
cnf('404',plain,
~ node147(c_s,s1),
inference(resolution,[],['310','403']) ).
cnf('405',plain,
( m_state_v_a2ext(X,Y,c_a2ip)
| ~ node146(X,Y) ),
inference(cnf_transformation,[],[m_Robot_121]) ).
cnf('406',plain,
~ node146(c_s,s1),
inference(resolution,[],['316','405']) ).
cnf('407',plain,
node148(c_s,s1,s2),
inference(resolution,[then_simplify],['401','402','404','406']) ).
cnf('408',plain,
( ~ node148(X,Y,Z)
| ~ m_state_v_A2Mag(X,Z,U)
| m_state_v_A2Mag(X,Y,U) ),
inference(cnf_transformation,[],[m_Robot_126]) ).
cnf('409',plain,
( ~ m_state_v_A2Mag(c_s,s2,X)
| m_state_v_A2Mag(c_s,s1,X) ),
inference(resolution,[],['407','408']) ).
cnf('410',plain,
node149(c_s,s0,s1),
inference(resolution,[],['400','7']) ).
cnf('411',plain,
( m_state_v_angle(X,Y,c_arm2todepbelt)
| ~ node147(X,Y) ),
inference(cnf_transformation,[],[m_Robot_122]) ).
cnf('412',plain,
~ node147(X,s0),
inference(resolution,[],['33','411']) ).
cnf('413',plain,
( m_state_v_A2M(X,Y,c_extend)
| ~ node146(X,Y) ),
inference(cnf_transformation,[],[m_Robot_120]) ).
cnf('414',plain,
~ node146(X3,s0),
inference(resolution,[],['300','413']) ).
cnf('415',plain,
( ~ node149(X,s0,Y)
| node148(X,s0,Y) ),
inference(resolution,[then_simplify],['402','412','414']) ).
cnf('416',plain,
node148(c_s,s0,s1),
inference(resolution,[],['410','415']) ).
cnf('417',plain,
( ~ node148(X,s0,Y)
| ~ m_state_v_A2Mag(X,Y,c_on) ),
inference(resolution,[],['408','22']) ).
cnf('418',plain,
~ m_state_v_A2Mag(c_s,s1,c_on),
inference(resolution,[],['416','417']) ).
cnf('419',plain,
~ m_state_v_A2Mag(c_s,s2,c_on),
inference(resolution,[],['409','418']) ).
cnf('420',plain,
( m_state_v_A2Mag(X,Y,c_off)
| m_state_v_A2Mag(X,Y,c_on) ),
inference(cnf_transformation,[],[m_state_11]) ).
cnf('421',plain,
m_state_v_A2Mag(c_s,s2,c_off),
inference(resolution,[],['419','420']) ).
cnf('422',plain,
m_state_v_A1Mag(c_s,s2,c_off),
inference(resolution,[],['220','224']) ).
cnf('423',plain,
( m_state_v_angle(X,Y,c_arm2topress)
| ~ node33(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_48]) ).
cnf('424',plain,
~ node33(c_s,s1),
inference(resolution,[],['133','423']) ).
cnf('425',plain,
node36(c_s,s1,s2),
inference(resolution,[],['294','60']) ).
cnf('426',plain,
( m_state_v_A2M(c_s,s1,c_retract)
| node35(c_s,s1,s2)
| node33(c_s,s1)
| node34(c_s,s1) ),
inference(resolution,[],['425','296']) ).
cnf('427',plain,
~ node34(c_s,s1),
inference(resolution,[],['128','297']) ).
cnf('428',plain,
( m_state_v_A2M(c_s,s1,c_retract)
| node35(c_s,s1,s2) ),
inference(resolution,[then_simplify],['424','426','427']) ).
cnf('429',plain,
node35(c_s,s1,s2),
inference(resolution,[],['366','428']) ).
cnf('430',plain,
( ~ node35(X,Y,Z)
| ~ m_state_v_a2ext(X,Y,U)
| m_state_v_a2ext(X,Z,U) ),
inference(cnf_transformation,[],[m_Sensor_51]) ).
cnf('431',plain,
( ~ node35(X,s0,Y)
| m_state_v_a2ext(X,Y,c_retracted) ),
inference(resolution,[],['430','307']) ).
cnf('432',plain,
m_state_v_a2ext(c_s,s1,c_retracted),
inference(resolution,[],['304','431']) ).
cnf('433',plain,
( ~ node35(c_s,s1,X)
| m_state_v_a2ext(c_s,X,c_retracted) ),
inference(resolution,[],['432','430']) ).
cnf('434',plain,
m_state_v_a2ext(c_s,s2,c_retracted),
inference(resolution,[],['429','433']) ).
cnf('435',plain,
( ~ node140(X,s0,Y)
| ~ m_state_v_A2M(X,Y,c_extend) ),
inference(resolution,[],['347','300']) ).
cnf('436',plain,
~ m_state_v_A2M(c_s,s1,c_extend),
inference(resolution,[],['364','435']) ).
cnf('437',plain,
~ m_state_v_A2M(c_s,s2,c_extend),
inference(resolution,[],['348','436']) ).
cnf('438',plain,
( m_state_v_A2M(X,Y,c_extend)
| m_state_v_A2M(X,Y,c_idle)
| m_state_v_A2M(X,Y,c_retract) ),
inference(cnf_transformation,[],[m_state_7]) ).
cnf('439',plain,
~ m_state_v_A2M(c_s,s2,c_retract),
inference(resolution,[],['348','366']) ).
cnf('440',plain,
m_state_v_A2M(c_s,s2,c_idle),
inference(resolution,[then_simplify],['437','438','439']) ).
cnf('441',plain,
( ~ node130(X,s0,Y)
| ~ m_state_v_A1M(X,Y,c_extend) ),
inference(resolution,[],['160','111']) ).
cnf('442',plain,
~ m_state_v_A1M(c_s,s1,c_extend),
inference(resolution,[],['159','441']) ).
cnf('443',plain,
~ node29(c_s,s1),
inference(resolution,[],['442','200']) ).
cnf('444',plain,
~ node30(c_s,s1),
inference(resolution,[],['125','198']) ).
cnf('445',plain,
node32(c_s,s1,s2),
inference(resolution,[],['195','60']) ).
cnf('446',plain,
( node31(c_s,s1,s2)
| m_state_v_A1M(c_s,s1,c_retract)
| node29(c_s,s1)
| node30(c_s,s1) ),
inference(resolution,[],['445','197']) ).
cnf('447',plain,
( node31(c_s,s1,s2)
| m_state_v_A1M(c_s,s1,c_retract)
| node29(c_s,s1) ),
inference(resolution,[],['444','446']) ).
cnf('448',plain,
~ m_state_v_A1M(c_s,s1,c_retract),
inference(resolution,[],['159','161']) ).
cnf('449',plain,
node31(c_s,s1,s2),
inference(resolution,[then_simplify],['443','447','448']) ).
cnf('450',plain,
( ~ node31(X,Y,Z)
| ~ m_state_v_a1ext(X,Y,U)
| m_state_v_a1ext(X,Z,U) ),
inference(cnf_transformation,[],[m_Sensor_40]) ).
cnf('451',plain,
( ~ node31(X,s0,Y)
| m_state_v_a1ext(X,Y,c_retracted) ),
inference(resolution,[],['450','206']) ).
cnf('452',plain,
m_state_v_a1ext(c_s,s1,c_retracted),
inference(resolution,[],['203','451']) ).
cnf('453',plain,
( ~ node31(c_s,s1,X)
| m_state_v_a1ext(c_s,X,c_retracted) ),
inference(resolution,[],['452','450']) ).
cnf('454',plain,
m_state_v_a1ext(c_s,s2,c_retracted),
inference(resolution,[],['449','453']) ).
cnf('455',plain,
( node169(X,Y,Z)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_ERTable_22]) ).
cnf('456',plain,
m_ERTable_v_s(c_ERT,c_s),
inference(cnf_transformation,[],[m_main_4]) ).
cnf('457',plain,
m_ERTable_v_s(c_ERT,c_s),
inference(cnf_transformation,[],[m_main_4]) ).
cnf('458',plain,
( node169(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['455','456','457']) ).
cnf('459',plain,
node169(c_s,s0,s1),
inference(resolution,[],['458','7']) ).
cnf('460',plain,
( ~ node169(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_idle)
| ~ m_state_v_TEM(X,Y,c_idle)
| m_state_v_TRM(X,Z,c_clockwise)
| ~ m_state_v_minRot(X,Y)
| ~ m_state_v_botPos(X,Y)
| ~ m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_17]) ).
cnf('461',plain,
m_state_v_minRot(X,s0),
inference(cnf_transformation,[],[m_state_81]) ).
cnf('462',plain,
( m_state_v_TRM(X,Y,c_clockwise)
| m_state_v_TRM(X,Y,c_counterclockwise)
| m_state_v_TRM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_39]) ).
cnf('463',plain,
( ~ m_state_v_TRM(X,Y,c_clockwise)
| ~ m_state_v_TRM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_41]) ).
cnf('464',plain,
m_state_v_TRM(X,s0,c_idle),
inference(cnf_transformation,[],[m_state_83]) ).
cnf('465',plain,
~ m_state_v_TRM(X,s0,c_clockwise),
inference(resolution,[],['463','464']) ).
cnf('466',plain,
( ~ m_state_v_TRM(X,Y,c_counterclockwise)
| ~ m_state_v_TRM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_42]) ).
cnf('467',plain,
~ m_state_v_TRM(X3,s0,c_counterclockwise),
inference(resolution,[],['466','464']) ).
cnf('468',plain,
m_state_v_TRM(X3,s0,c_idle),
inference(resolution,[then_simplify],['462','465','467']) ).
cnf('469',plain,
( m_state_v_TEM(X,Y,c_down)
| m_state_v_TEM(X,Y,c_idle)
| m_state_v_TEM(X,Y,c_up) ),
inference(cnf_transformation,[],[m_state_35]) ).
cnf('470',plain,
m_state_v_TEM(X3,s0,c_idle),
inference(resolution,[then_simplify],['469','269','271']) ).
cnf('471',plain,
( ~ node169(X,s0,Y)
| m_state_v_TRM(X,Y,c_clockwise)
| ~ m_state_v_botPos(X,s0)
| ~ m_state_v_tl(X,s0) ),
inference(resolution,[then_simplify],['460','461','468','470']) ).
cnf('472',plain,
m_state_v_botPos(X,s0),
inference(cnf_transformation,[],[m_state_80]) ).
cnf('473',plain,
( ~ node169(X,s0,Y)
| m_state_v_TRM(X,Y,c_clockwise)
| ~ m_state_v_tl(X,s0) ),
inference(resolution,[],['471','472']) ).
cnf('474',plain,
m_state_v_tl(X,s0),
inference(cnf_transformation,[],[m_state_84]) ).
cnf('475',plain,
( ~ node169(X,s0,Y)
| m_state_v_TRM(X,Y,c_clockwise) ),
inference(resolution,[],['473','474']) ).
cnf('476',plain,
m_state_v_TRM(c_s,s1,c_clockwise),
inference(resolution,[],['459','475']) ).
cnf('477',plain,
( node28(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_35]) ).
cnf('478',plain,
( node28(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['477','56','57']) ).
cnf('479',plain,
node28(c_s,s1,s2),
inference(resolution,[],['478','60']) ).
cnf('480',plain,
( ~ node28(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_clockwise)
| m_state_v_maxRot(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_32]) ).
cnf('481',plain,
( ~ m_state_v_TRM(c_s,s1,c_clockwise)
| m_state_v_maxRot(c_s,s2) ),
inference(resolution,[],['479','480']) ).
cnf('482',plain,
m_state_v_maxRot(c_s,s2),
inference(resolution,[],['476','481']) ).
cnf('483',plain,
( node175(X,Y,Z)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ m_ERTable_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_ERTable_44]) ).
cnf('484',plain,
( node175(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['483','456','457']) ).
cnf('485',plain,
node175(c_s,s0,s1),
inference(resolution,[],['484','7']) ).
cnf('486',plain,
( ~ node175(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_idle)
| ~ m_state_v_TEM(X,Y,c_idle)
| m_state_v_TEM(X,Z,c_up)
| ~ m_state_v_minRot(X,Y)
| ~ m_state_v_botPos(X,Y)
| ~ m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_39]) ).
cnf('487',plain,
( ~ node175(X,s0,Y)
| m_state_v_TEM(X,Y,c_up)
| ~ m_state_v_botPos(X,s0)
| ~ m_state_v_tl(X,s0) ),
inference(resolution,[then_simplify],['486','461','468','470']) ).
cnf('488',plain,
( ~ node175(X,s0,Y)
| m_state_v_TEM(X,Y,c_up)
| ~ m_state_v_tl(X,s0) ),
inference(resolution,[],['487','472']) ).
cnf('489',plain,
( ~ node175(X,s0,Y)
| m_state_v_TEM(X,Y,c_up) ),
inference(resolution,[],['488','474']) ).
cnf('490',plain,
m_state_v_TEM(c_s,s1,c_up),
inference(resolution,[],['485','489']) ).
cnf('491',plain,
node22(c_s,s1,s2),
inference(resolution,[],['264','60']) ).
cnf('492',plain,
( ~ node22(X,Y,Z)
| ~ m_state_v_TEM(X,Y,c_up)
| m_state_v_topPos(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_14]) ).
cnf('493',plain,
( ~ m_state_v_TEM(c_s,s1,c_up)
| m_state_v_topPos(c_s,s2) ),
inference(resolution,[],['491','492']) ).
cnf('494',plain,
m_state_v_topPos(c_s,s2),
inference(resolution,[],['490','493']) ).
cnf('495',plain,
( m_state_v_A1M(X,Y,c_retract)
| ~ node1(X,Y) ),
inference(cnf_transformation,[],[m_Communication_2]) ).
cnf('496',plain,
~ node1(c_s,s1),
inference(resolution,[],['162','495']) ).
cnf('497',plain,
( node4(X,Y,Z)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Communication_12]) ).
cnf('498',plain,
( node4(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['497','324','325']) ).
cnf('499',plain,
node4(c_s,s1,s2),
inference(resolution,[],['498','60']) ).
cnf('500',plain,
( ~ node4(X,Y,Z)
| node3(X,Y,Z)
| node2(X,Y)
| node1(X,Y) ),
inference(cnf_transformation,[],[m_Communication_11]) ).
cnf('501',plain,
( node20(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_11]) ).
cnf('502',plain,
( node20(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['501','56','57']) ).
cnf('503',plain,
node20(c_s,s0,s1),
inference(resolution,[],['502','7']) ).
cnf('504',plain,
( ~ node20(X,Y,Z)
| node19(X,Y,Z)
| node18(X,Y)
| node17(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_10]) ).
cnf('505',plain,
( ~ node18(X,Y)
| m_state_v_deliv(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_5]) ).
cnf('506',plain,
~ m_state_v_deliv(X,s0),
inference(cnf_transformation,[],[m_state_78]) ).
cnf('507',plain,
~ node18(X,s0),
inference(resolution,[],['505','506']) ).
cnf('508',plain,
( ~ m_state_v_FBM(X,Y,c_off)
| ~ m_state_v_FBM(X,Y,c_on) ),
inference(cnf_transformation,[],[m_state_26]) ).
cnf('509',plain,
m_state_v_FBM(X,s0,c_off),
inference(cnf_transformation,[],[m_state_77]) ).
cnf('510',plain,
~ m_state_v_FBM(X,s0,c_on),
inference(resolution,[],['508','509']) ).
cnf('511',plain,
( m_state_v_FBM(X,Y,c_on)
| ~ node17(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_1]) ).
cnf('512',plain,
~ node17(X3,s0),
inference(resolution,[],['510','511']) ).
cnf('513',plain,
( ~ node20(X,s0,Y)
| node19(X,s0,Y) ),
inference(resolution,[then_simplify],['504','507','512']) ).
cnf('514',plain,
node19(c_s,s0,s1),
inference(resolution,[],['503','513']) ).
cnf('515',plain,
( ~ node19(X,Y,Z)
| ~ m_state_v_pfl(X,Y)
| m_state_v_pfl(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_6]) ).
cnf('516',plain,
m_state_v_pfl(X,s0),
inference(cnf_transformation,[],[m_state_79]) ).
cnf('517',plain,
( ~ node19(X,s0,Y)
| m_state_v_pfl(X,Y) ),
inference(resolution,[],['515','516']) ).
cnf('518',plain,
m_state_v_pfl(c_s,s1),
inference(resolution,[],['514','517']) ).
cnf('519',plain,
( ~ m_state_v_pfl(X,Y)
| ~ node2(X,Y) ),
inference(cnf_transformation,[],[m_Communication_6]) ).
cnf('520',plain,
~ node2(c_s,s1),
inference(resolution,[],['518','519']) ).
cnf('521',plain,
( node3(c_s,s1,s2)
| node1(c_s,s1) ),
inference(resolution,[then_simplify],['499','500','520']) ).
cnf('522',plain,
node3(c_s,s1,s2),
inference(resolution,[],['496','521']) ).
cnf('523',plain,
( ~ node3(X,Y,Z)
| ~ m_state_v_tl(X,Y)
| m_state_v_tl(X,Z) ),
inference(cnf_transformation,[],[m_Communication_7]) ).
cnf('524',plain,
node4(c_s,s0,s1),
inference(resolution,[],['498','7']) ).
cnf('525',plain,
( ~ node2(X,Y)
| m_state_v_deliv(X,Y) ),
inference(cnf_transformation,[],[m_Communication_5]) ).
cnf('526',plain,
~ node2(X,s0),
inference(resolution,[],['525','506']) ).
cnf('527',plain,
~ node1(X3,s0),
inference(resolution,[],['43','495']) ).
cnf('528',plain,
( ~ node4(X,s0,Y)
| node3(X,s0,Y) ),
inference(resolution,[then_simplify],['500','526','527']) ).
cnf('529',plain,
node3(c_s,s0,s1),
inference(resolution,[],['524','528']) ).
cnf('530',plain,
( ~ node3(X,s0,Y)
| m_state_v_tl(X,Y) ),
inference(resolution,[],['523','474']) ).
cnf('531',plain,
m_state_v_tl(c_s,s1),
inference(resolution,[],['529','530']) ).
cnf('532',plain,
m_state_v_tl(c_s,s2),
inference(resolution,[then_simplify],['522','523','531']) ).
cnf('533',plain,
( ~ m_state_v_angle(c_s,s2,c_arm1totable)
| ~ m_state_v_RRM(c_s,s2,c_idle)
| ~ node131(c_s,s2,X)
| m_state_v_A1M(c_s,X,c_extend) ),
inference(resolution,[then_simplify],['281','398','421','422','434','440','454','482','494','532']) ).
cnf('534',plain,
node131(c_s,s2,s3),
inference(resolution,[],['137','175']) ).
cnf('535',plain,
( ~ m_state_v_angle(c_s,s2,c_arm1totable)
| ~ m_state_v_RRM(c_s,s2,c_idle)
| m_state_v_A1M(c_s,s3,c_extend) ),
inference(resolution,[],['533','534']) ).
cnf('536',plain,
m_state_v_A1M(c_s,s3,c_extend),
inference(resolution,[then_simplify],['378','535','381']) ).
cnf('537',plain,
~ m_state_v_A1M(c_s,s3,c_idle),
inference(resolution,[],['536','110']) ).
cnf('538',plain,
( m_state_v_A1M(X,Y,c_idle)
| ~ node157(X,Y) ),
inference(cnf_transformation,[],[m_Robot_169]) ).
cnf('539',plain,
~ node157(c_s,s3),
inference(resolution,[],['537','538']) ).
cnf('540',plain,
( ~ node31(c_s,s1,X)
| ~ m_state_v_a1ext(c_s,X,c_ot) ),
inference(resolution,[],['215','204']) ).
cnf('541',plain,
~ m_state_v_a1ext(c_s,s2,c_ot),
inference(resolution,[],['449','540']) ).
cnf('542',plain,
~ node142(c_s,s2),
inference(resolution,[],['541','216']) ).
cnf('543',plain,
node145(c_s,s2,s3),
inference(resolution,[],['105','175']) ).
cnf('544',plain,
( node144(c_s,s2,s3)
| node142(c_s,s2)
| node143(c_s,s2) ),
inference(resolution,[],['543','107']) ).
cnf('545',plain,
( ~ node31(c_s,s1,X)
| ~ m_state_v_a1ext(c_s,X,c_a1ip) ),
inference(resolution,[],['209','204']) ).
cnf('546',plain,
~ m_state_v_a1ext(c_s,s2,c_a1ip),
inference(resolution,[],['449','545']) ).
cnf('547',plain,
~ node143(c_s,s2),
inference(resolution,[],['546','210']) ).
cnf('548',plain,
node144(c_s,s2,s3),
inference(resolution,[then_simplify],['542','544','547']) ).
cnf('549',plain,
( ~ node144(c_s,s2,X)
| ~ m_state_v_A1Mag(c_s,X,c_on) ),
inference(resolution,[],['226','116']) ).
cnf('550',plain,
~ m_state_v_A1Mag(c_s,s3,c_on),
inference(resolution,[],['548','549']) ).
cnf('551',plain,
~ node156(c_s,s3),
inference(resolution,[],['550','18']) ).
cnf('552',plain,
( ~ node35(c_s,s1,X)
| ~ m_state_v_a2ext(c_s,X,c_ob) ),
inference(resolution,[],['310','305']) ).
cnf('553',plain,
~ m_state_v_a2ext(c_s,s2,c_ob),
inference(resolution,[],['429','552']) ).
cnf('554',plain,
~ node147(c_s,s2),
inference(resolution,[],['553','403']) ).
cnf('555',plain,
node149(c_s,s2,s3),
inference(resolution,[],['400','175']) ).
cnf('556',plain,
( node148(c_s,s2,s3)
| node146(c_s,s2)
| node147(c_s,s2) ),
inference(resolution,[],['555','402']) ).
cnf('557',plain,
( ~ node35(c_s,s1,X)
| ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
inference(resolution,[],['316','305']) ).
cnf('558',plain,
~ m_state_v_a2ext(c_s,s2,c_a2ip),
inference(resolution,[],['429','557']) ).
cnf('559',plain,
~ node146(c_s,s2),
inference(resolution,[],['558','405']) ).
cnf('560',plain,
node148(c_s,s2,s3),
inference(resolution,[then_simplify],['554','556','559']) ).
cnf('561',plain,
( ~ node148(c_s,s2,X)
| ~ m_state_v_A2Mag(c_s,X,c_on) ),
inference(resolution,[],['419','408']) ).
cnf('562',plain,
~ m_state_v_A2Mag(c_s,s3,c_on),
inference(resolution,[],['560','561']) ).
cnf('563',plain,
~ node155(c_s,s3),
inference(resolution,[],['562','23']) ).
cnf('564',plain,
~ node154(c_s,s3),
inference(resolution,[],['550','25']) ).
cnf('565',plain,
( ~ m_state_v_A1M(X,Y,c_extend)
| ~ m_state_v_A1M(X,Y,c_retract) ),
inference(cnf_transformation,[],[m_state_2]) ).
cnf('566',plain,
~ m_state_v_A1M(c_s,s3,c_retract),
inference(resolution,[],['536','565']) ).
cnf('567',plain,
~ node153(c_s,s3),
inference(resolution,[],['566','283']) ).
cnf('568',plain,
~ node138(c_s,s2),
inference(resolution,[],['367','351']) ).
cnf('569',plain,
( m_state_v_A2M(X,Y,c_retract)
| ~ node139(X,Y) ),
inference(cnf_transformation,[],[m_Robot_93]) ).
cnf('570',plain,
~ node139(c_s,s2),
inference(resolution,[],['367','569']) ).
cnf('571',plain,
~ node137(c_s,s2),
inference(resolution,[],['553','311']) ).
cnf('572',plain,
~ node136(c_s,s2),
inference(resolution,[],['419','355']) ).
cnf('573',plain,
~ node135(c_s,s2),
inference(resolution,[],['553','319']) ).
cnf('574',plain,
~ node134(c_s,s2),
inference(resolution,[],['558','321']) ).
cnf('575',plain,
( m_state_v_A1Mag(X,Y,c_on)
| ~ node133(X,Y) ),
inference(cnf_transformation,[],[m_Robot_72]) ).
cnf('576',plain,
~ node133(c_s,s2),
inference(resolution,[],['226','575']) ).
cnf('577',plain,
~ node132(c_s,s2),
inference(resolution,[],['226','344']) ).
cnf('578',plain,
( ~ node141(c_s,s2,X)
| node140(c_s,s2,X) ),
inference(resolution,[then_simplify],['568','288','570','571','572','573','574','576','577']) ).
cnf('579',plain,
node141(c_s,s2,s3),
inference(resolution,[],['286','175']) ).
cnf('580',plain,
node140(c_s,s2,s3),
inference(resolution,[],['578','579']) ).
cnf('581',plain,
( ~ node140(c_s,s2,X)
| ~ m_state_v_A2M(c_s,X,c_retract) ),
inference(resolution,[],['367','347']) ).
cnf('582',plain,
~ m_state_v_A2M(c_s,s3,c_retract),
inference(resolution,[],['580','581']) ).
cnf('583',plain,
~ node152(c_s,s3),
inference(resolution,[],['582','368']) ).
cnf('584',plain,
~ node151(c_s,s3),
inference(resolution,[],['582','39']) ).
cnf('585',plain,
~ node150(c_s,s3),
inference(resolution,[],['566','44']) ).
cnf('586',plain,
( ~ node159(c_s,s3,X)
| node158(c_s,s3,X) ),
inference(resolution,[then_simplify],['539','9','551','563','564','567','583','584','585']) ).
cnf('587',plain,
node159(c_s,s3,s4),
inference(resolution,[],['4','386']) ).
cnf('588',plain,
node158(c_s,s3,s4),
inference(resolution,[],['586','587']) ).
cnf('589',plain,
~ m_state_v_RRM(c_s,s4,c_counterclock),
inference(resolution,[],['397','588']) ).
cnf('590',plain,
~ node37(c_s,s4),
inference(resolution,[],['589','53']) ).
cnf('591',plain,
( ~ node158(c_s,s2,X)
| ~ m_state_v_RRM(c_s,X,c_clockwise) ),
inference(resolution,[],['190','48']) ).
cnf('592',plain,
~ m_state_v_RRM(c_s,s3,c_clockwise),
inference(resolution,[],['591','373']) ).
cnf('593',plain,
m_state_v_RRM(c_s,s3,c_idle),
inference(resolution,[then_simplify],['375','67','592']) ).
cnf('594',plain,
node48(c_s,s3,s4),
inference(resolution,[],['64','386']) ).
cnf('595',plain,
( ~ m_state_v_angle(c_s,s3,c_arm1totable)
| ~ m_state_v_RRM(c_s,s3,c_idle)
| m_state_v_angle_status(c_s,s4,c_arm1stoppedattable) ),
inference(resolution,[],['594','66']) ).
cnf('596',plain,
m_state_v_angle(c_s,s3,c_arm1totable),
inference(resolution,[],['101','186']) ).
cnf('597',plain,
m_state_v_angle_status(c_s,s4,c_arm1stoppedattable),
inference(resolution,[then_simplify],['593','595','596']) ).
cnf('598',plain,
~ m_state_v_angle_status(c_s,s4,c_arm1stoppedatpress),
inference(resolution,[],['597','72']) ).
cnf('599',plain,
~ node40(c_s,s4),
inference(resolution,[],['598','74']) ).
cnf('600',plain,
succ(s4,s5),
inference(cnf_transformation,[],[bound5]) ).
cnf('601',plain,
trans(s4,s5),
inference(resolution,[],['5','600']) ).
cnf('602',plain,
node42(c_s,s4,s5),
inference(resolution,[],['58','601']) ).
cnf('603',plain,
( node41(c_s,s4,s5)
| node37(c_s,s4)
| node38(c_s,s4)
| node39(c_s,s4)
| node40(c_s,s4) ),
inference(resolution,[],['602','62']) ).
cnf('604',plain,
~ m_state_v_angle_status(c_s,s4,c_arm2stoppedatpress),
inference(resolution,[],['597','80']) ).
cnf('605',plain,
~ node38(c_s,s4),
inference(resolution,[],['604','82']) ).
cnf('606',plain,
~ m_state_v_angle_status(c_s,s4,c_arm2stoppedatbelt),
inference(resolution,[],['597','76']) ).
cnf('607',plain,
~ node39(c_s,s4),
inference(resolution,[],['606','78']) ).
cnf('608',plain,
( node41(c_s,s4,s5)
| node37(c_s,s4) ),
inference(resolution,[then_simplify],['599','603','605','607']) ).
cnf('609',plain,
node41(c_s,s4,s5),
inference(resolution,[],['590','608']) ).
cnf('610',plain,
m_state_v_angle(c_s,s5,c_arm1totable),
inference(resolution,[],['396','609']) ).
cnf('611',plain,
( ~ node41(c_s,s5,X)
| m_state_v_angle(c_s,X,c_arm1totable) ),
inference(resolution,[],['610','96']) ).
cnf('612',plain,
node32(c_s,s3,s4),
inference(resolution,[],['195','386']) ).
cnf('613',plain,
( ~ node32(X,Y,Z)
| ~ m_state_v_A1M(X,Y,c_extend)
| ~ m_state_v_angle(X,Y,c_arm1totable)
| m_state_v_a1ext(X,Z,c_ot) ),
inference(cnf_transformation,[],[m_Sensor_42]) ).
cnf('614',plain,
( ~ m_state_v_A1M(c_s,s3,c_extend)
| ~ m_state_v_angle(c_s,s3,c_arm1totable)
| m_state_v_a1ext(c_s,s4,c_ot) ),
inference(resolution,[],['612','613']) ).
cnf('615',plain,
m_state_v_A1M(c_s,s3,c_extend),
inference(resolution,[then_simplify],['378','535','381']) ).
cnf('616',plain,
m_state_v_a1ext(c_s,s4,c_ot),
inference(resolution,[then_simplify],['187','614','615']) ).
cnf('617',plain,
~ m_state_v_a1ext(c_s,s4,c_retracted),
inference(resolution,[],['616','212']) ).
cnf('618',plain,
( m_state_v_a1ext(X,Y,c_retracted)
| ~ node157(X,Y) ),
inference(cnf_transformation,[],[m_Robot_167]) ).
cnf('619',plain,
~ node157(c_s,s4),
inference(resolution,[],['617','618']) ).
cnf('620',plain,
( ~ node144(c_s,s3,X)
| ~ m_state_v_A1Mag(c_s,X,c_on) ),
inference(resolution,[],['550','116']) ).
cnf('621',plain,
m_state_v_a1ext(c_s,s2,c_retracted),
inference(resolution,[],['449','453']) ).
cnf('622',plain,
( ~ node31(c_s,s2,X)
| m_state_v_a1ext(c_s,X,c_retracted) ),
inference(resolution,[],['621','450']) ).
cnf('623',plain,
~ m_state_v_A1M(c_s,s2,c_extend),
inference(resolution,[],['281','110']) ).
cnf('624',plain,
( m_state_v_A1M(X,Y,c_extend)
| ~ node30(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_38]) ).
cnf('625',plain,
~ node30(c_s,s2),
inference(resolution,[],['623','624']) ).
cnf('626',plain,
node32(c_s,s2,s3),
inference(resolution,[],['195','175']) ).
cnf('627',plain,
( node31(c_s,s2,s3)
| m_state_v_A1M(c_s,s2,c_retract)
| node29(c_s,s2)
| node30(c_s,s2) ),
inference(resolution,[],['626','197']) ).
cnf('628',plain,
~ m_state_v_A1M(c_s,s2,c_retract),
inference(resolution,[],['281','41']) ).
cnf('629',plain,
~ node29(c_s,s2),
inference(resolution,[],['623','200']) ).
cnf('630',plain,
node31(c_s,s2,s3),
inference(resolution,[then_simplify],['625','627','628','629']) ).
cnf('631',plain,
m_state_v_a1ext(c_s,s3,c_retracted),
inference(resolution,[],['622','630']) ).
cnf('632',plain,
~ m_state_v_a1ext(c_s,s3,c_ot),
inference(resolution,[],['631','212']) ).
cnf('633',plain,
~ node142(c_s,s3),
inference(resolution,[],['632','216']) ).
cnf('634',plain,
node145(c_s,s3,s4),
inference(resolution,[],['105','386']) ).
cnf('635',plain,
( node144(c_s,s3,s4)
| node142(c_s,s3)
| node143(c_s,s3) ),
inference(resolution,[],['634','107']) ).
cnf('636',plain,
~ m_state_v_a1ext(c_s,s3,c_a1ip),
inference(resolution,[],['631','205']) ).
cnf('637',plain,
~ node143(c_s,s3),
inference(resolution,[],['636','210']) ).
cnf('638',plain,
node144(c_s,s3,s4),
inference(resolution,[then_simplify],['633','635','637']) ).
cnf('639',plain,
~ m_state_v_A1Mag(c_s,s4,c_on),
inference(resolution,[],['620','638']) ).
cnf('640',plain,
~ node156(c_s,s4),
inference(resolution,[],['639','18']) ).
cnf('641',plain,
m_state_v_A2Mag(c_s,s2,c_off),
inference(resolution,[],['419','420']) ).
cnf('642',plain,
( ~ node148(X,Y,Z)
| ~ m_state_v_A2Mag(X,Y,U)
| m_state_v_A2Mag(X,Z,U) ),
inference(cnf_transformation,[],[m_Robot_125]) ).
cnf('643',plain,
( ~ node148(c_s,s2,X)
| m_state_v_A2Mag(c_s,X,c_off) ),
inference(resolution,[],['641','642']) ).
cnf('644',plain,
m_state_v_A2Mag(c_s,s3,c_off),
inference(resolution,[],['560','643']) ).
cnf('645',plain,
( ~ node148(c_s,s3,X)
| m_state_v_A2Mag(c_s,X,c_off) ),
inference(resolution,[],['644','642']) ).
cnf('646',plain,
( ~ node35(c_s,s2,X)
| ~ m_state_v_a2ext(c_s,X,c_ob) ),
inference(resolution,[],['553','305']) ).
cnf('647',plain,
( m_state_v_A2M(X,Y,c_extend)
| ~ node34(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_49]) ).
cnf('648',plain,
~ node34(c_s,s2),
inference(resolution,[],['437','647']) ).
cnf('649',plain,
node36(c_s,s2,s3),
inference(resolution,[],['294','175']) ).
cnf('650',plain,
( m_state_v_A2M(c_s,s2,c_retract)
| node35(c_s,s2,s3)
| node33(c_s,s2)
| node34(c_s,s2) ),
inference(resolution,[],['649','296']) ).
cnf('651',plain,
~ node33(c_s,s2),
inference(resolution,[],['437','301']) ).
cnf('652',plain,
node35(c_s,s2,s3),
inference(resolution,[then_simplify],['648','650','439','651']) ).
cnf('653',plain,
~ m_state_v_a2ext(c_s,s3,c_ob),
inference(resolution,[],['646','652']) ).
cnf('654',plain,
~ node147(c_s,s3),
inference(resolution,[],['653','403']) ).
cnf('655',plain,
( ~ node35(c_s,s2,X)
| ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
inference(resolution,[],['558','305']) ).
cnf('656',plain,
~ m_state_v_a2ext(c_s,s3,c_a2ip),
inference(resolution,[],['655','652']) ).
cnf('657',plain,
~ node146(c_s,s3),
inference(resolution,[],['656','405']) ).
cnf('658',plain,
node149(c_s,s3,s4),
inference(resolution,[],['400','386']) ).
cnf('659',plain,
( node148(c_s,s3,s4)
| node146(c_s,s3)
| node147(c_s,s3) ),
inference(resolution,[],['658','402']) ).
cnf('660',plain,
( node148(c_s,s3,s4)
| node147(c_s,s3) ),
inference(resolution,[],['657','659']) ).
cnf('661',plain,
node148(c_s,s3,s4),
inference(resolution,[],['654','660']) ).
cnf('662',plain,
m_state_v_A2Mag(c_s,s4,c_off),
inference(resolution,[],['645','661']) ).
cnf('663',plain,
~ m_state_v_A2Mag(c_s,s4,c_on),
inference(resolution,[],['662','20']) ).
cnf('664',plain,
~ node155(c_s,s4),
inference(resolution,[],['663','23']) ).
cnf('665',plain,
~ node154(c_s,s4),
inference(resolution,[],['639','25']) ).
cnf('666',plain,
( m_state_v_a1ext(X,Y,c_retracted)
| ~ node153(X,Y) ),
inference(cnf_transformation,[],[m_Robot_142]) ).
cnf('667',plain,
~ node153(c_s,s4),
inference(resolution,[],['617','666']) ).
cnf('668',plain,
~ node132(c_s,s3),
inference(resolution,[],['550','344']) ).
cnf('669',plain,
~ node138(c_s,s3),
inference(resolution,[],['582','351']) ).
cnf('670',plain,
~ node139(c_s,s3),
inference(resolution,[],['582','569']) ).
cnf('671',plain,
~ node137(c_s,s3),
inference(resolution,[],['653','311']) ).
cnf('672',plain,
~ node136(c_s,s3),
inference(resolution,[],['562','355']) ).
cnf('673',plain,
~ node135(c_s,s3),
inference(resolution,[],['653','319']) ).
cnf('674',plain,
~ node134(c_s,s3),
inference(resolution,[],['656','321']) ).
cnf('675',plain,
( m_state_v_A2Mag(X,Y,c_on)
| ~ node133(X,Y) ),
inference(cnf_transformation,[],[m_Robot_73]) ).
cnf('676',plain,
~ node133(c_s,s3),
inference(resolution,[],['562','675']) ).
cnf('677',plain,
( node132(c_s,s3)
| ~ node141(c_s,s3,X)
| node140(c_s,s3,X) ),
inference(resolution,[then_simplify],['669','288','670','671','672','673','674','676']) ).
cnf('678',plain,
node141(c_s,s3,s4),
inference(resolution,[],['286','386']) ).
cnf('679',plain,
( node140(c_s,s3,s4)
| node132(c_s,s3) ),
inference(resolution,[],['677','678']) ).
cnf('680',plain,
node140(c_s,s3,s4),
inference(resolution,[],['668','679']) ).
cnf('681',plain,
( ~ node140(c_s,s3,X)
| ~ m_state_v_A2M(c_s,X,c_retract) ),
inference(resolution,[],['582','347']) ).
cnf('682',plain,
~ m_state_v_A2M(c_s,s4,c_retract),
inference(resolution,[],['680','681']) ).
cnf('683',plain,
~ node152(c_s,s4),
inference(resolution,[],['682','368']) ).
cnf('684',plain,
~ node151(c_s,s4),
inference(resolution,[],['682','39']) ).
cnf('685',plain,
( m_state_v_a1ext(X,Y,c_retracted)
| ~ node150(X,Y) ),
inference(cnf_transformation,[],[m_Robot_133]) ).
cnf('686',plain,
~ node150(c_s,s4),
inference(resolution,[],['617','685']) ).
cnf('687',plain,
( ~ node159(c_s,s4,X)
| node158(c_s,s4,X) ),
inference(resolution,[then_simplify],['619','9','640','664','665','667','683','684','686']) ).
cnf('688',plain,
node159(c_s,s4,s5),
inference(resolution,[],['4','601']) ).
cnf('689',plain,
node158(c_s,s4,s5),
inference(resolution,[],['687','688']) ).
cnf('690',plain,
( ~ m_state_v_RRM(c_s,s5,X)
| m_state_v_RRM(c_s,s4,X) ),
inference(resolution,[],['689','48']) ).
cnf('691',plain,
~ m_state_v_RRM(c_s,s5,c_counterclock),
inference(resolution,[],['690','589']) ).
cnf('692',plain,
~ node37(c_s,s5),
inference(resolution,[],['691','53']) ).
cnf('693',plain,
~ m_state_v_RRM(c_s,s3,c_clockwise),
inference(resolution,[],['591','373']) ).
cnf('694',plain,
( ~ node158(c_s,s3,X)
| ~ m_state_v_RRM(c_s,X,c_clockwise) ),
inference(resolution,[],['693','48']) ).
cnf('695',plain,
~ m_state_v_RRM(c_s,s4,c_clockwise),
inference(resolution,[],['694','588']) ).
cnf('696',plain,
m_state_v_RRM(c_s,s4,c_idle),
inference(resolution,[then_simplify],['589','67','695']) ).
cnf('697',plain,
node48(c_s,s4,s5),
inference(resolution,[],['64','601']) ).
cnf('698',plain,
( ~ m_state_v_angle(c_s,s4,c_arm1totable)
| ~ m_state_v_RRM(c_s,s4,c_idle)
| m_state_v_angle_status(c_s,s5,c_arm1stoppedattable) ),
inference(resolution,[],['697','66']) ).
cnf('699',plain,
m_state_v_angle(c_s,s4,c_arm1totable),
inference(resolution,[],['188','394']) ).
cnf('700',plain,
m_state_v_angle_status(c_s,s5,c_arm1stoppedattable),
inference(resolution,[then_simplify],['696','698','699']) ).
cnf('701',plain,
~ m_state_v_angle_status(c_s,s5,c_arm1stoppedatpress),
inference(resolution,[],['700','72']) ).
cnf('702',plain,
~ node40(c_s,s5),
inference(resolution,[],['701','74']) ).
cnf('703',plain,
succ(s5,s6),
inference(cnf_transformation,[],[bound6]) ).
cnf('704',plain,
trans(s5,s6),
inference(resolution,[],['5','703']) ).
cnf('705',plain,
node42(c_s,s5,s6),
inference(resolution,[],['58','704']) ).
cnf('706',plain,
( node41(c_s,s5,s6)
| node37(c_s,s5)
| node38(c_s,s5)
| node39(c_s,s5)
| node40(c_s,s5) ),
inference(resolution,[],['705','62']) ).
cnf('707',plain,
~ m_state_v_angle_status(c_s,s5,c_arm2stoppedatpress),
inference(resolution,[],['700','80']) ).
cnf('708',plain,
~ node38(c_s,s5),
inference(resolution,[],['707','82']) ).
cnf('709',plain,
~ m_state_v_angle_status(c_s,s5,c_arm2stoppedatbelt),
inference(resolution,[],['700','76']) ).
cnf('710',plain,
~ node39(c_s,s5),
inference(resolution,[],['709','78']) ).
cnf('711',plain,
( node41(c_s,s5,s6)
| node37(c_s,s5) ),
inference(resolution,[then_simplify],['702','706','708','710']) ).
cnf('712',plain,
node41(c_s,s5,s6),
inference(resolution,[],['692','711']) ).
cnf('713',plain,
m_state_v_angle(c_s,s6,c_arm1totable),
inference(resolution,[],['611','712']) ).
cnf('714',plain,
( ~ node41(c_s,s6,X)
| m_state_v_angle(c_s,X,c_arm1totable) ),
inference(resolution,[],['713','96']) ).
cnf('715',plain,
node32(c_s,s4,s5),
inference(resolution,[],['195','601']) ).
cnf('716',plain,
( ~ m_state_v_A1M(c_s,s4,c_extend)
| ~ m_state_v_angle(c_s,s4,c_arm1totable)
| m_state_v_a1ext(c_s,s5,c_ot) ),
inference(resolution,[],['715','613']) ).
cnf('717',plain,
( ~ node130(c_s,s3,X)
| m_state_v_A1M(c_s,X,c_extend) ),
inference(resolution,[],['536','230']) ).
cnf('718',plain,
( m_state_v_A1M(X,Y,c_idle)
| ~ node122(X,Y) ),
inference(cnf_transformation,[],[m_Robot_5]) ).
cnf('719',plain,
~ node122(c_s,s3),
inference(resolution,[],['537','718']) ).
cnf('720',plain,
~ node124(c_s,s3),
inference(resolution,[],['632','242']) ).
cnf('721',plain,
~ node127(c_s,s3),
inference(resolution,[],['636','236']) ).
cnf('722',plain,
~ node126(c_s,s3),
inference(resolution,[],['550','146']) ).
cnf('723',plain,
~ node125(c_s,s3),
inference(resolution,[],['636','240']) ).
cnf('724',plain,
( node121(X,Y,Z)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ m_Press_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Press_27]) ).
cnf('725',plain,
m_Press_v_s(c_PR,c_s),
inference(cnf_transformation,[],[m_main_6]) ).
cnf('726',plain,
m_Press_v_s(c_PR,c_s),
inference(cnf_transformation,[],[m_main_6]) ).
cnf('727',plain,
( node121(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['724','725','726']) ).
cnf('728',plain,
node121(c_s,s0,s1),
inference(resolution,[],['727','7']) ).
cnf('729',plain,
( ~ node121(X,Y,Z)
| node120(X,Y,Z)
| node119(X,Y)
| node118(X,Y)
| node117(X,Y)
| node116(X,Y)
| node115(X,Y)
| node114(X,Y) ),
inference(cnf_transformation,[],[m_Press_26]) ).
cnf('730',plain,
( ~ m_state_v_PM(X,Y,c_down)
| ~ m_state_v_PM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_30]) ).
cnf('731',plain,
~ m_state_v_PM(X,s0,c_down),
inference(resolution,[],['730','252']) ).
cnf('732',plain,
( m_state_v_PM(X,Y,c_down)
| ~ node119(X,Y) ),
inference(cnf_transformation,[],[m_Press_16]) ).
cnf('733',plain,
~ node119(X,s0),
inference(resolution,[],['731','732']) ).
cnf('734',plain,
( ~ node118(X,Y)
| m_state_v_topPosP(X,Y) ),
inference(cnf_transformation,[],[m_Press_13]) ).
cnf('735',plain,
~ m_state_v_topPosP(X,s0),
inference(cnf_transformation,[],[m_state_102]) ).
cnf('736',plain,
~ node118(X3,s0),
inference(resolution,[],['734','735']) ).
cnf('737',plain,
( ~ node117(X,Y)
| m_state_v_topPosP(X,Y) ),
inference(cnf_transformation,[],[m_Press_12]) ).
cnf('738',plain,
~ node117(X3,s0),
inference(resolution,[],['737','735']) ).
cnf('739',plain,
( ~ node116(X,Y)
| m_state_v_midPosP(X,Y) ),
inference(cnf_transformation,[],[m_Press_7]) ).
cnf('740',plain,
~ node116(X3,s0),
inference(resolution,[],['739','249']) ).
cnf('741',plain,
( ~ node115(X,Y)
| ~ m_state_v_pl(X,Y) ),
inference(cnf_transformation,[],[m_Press_4]) ).
cnf('742',plain,
~ node115(X3,s0),
inference(resolution,[],['741','153']) ).
cnf('743',plain,
( ~ node114(X,Y)
| ~ m_state_v_pl(X,Y) ),
inference(cnf_transformation,[],[m_Press_3]) ).
cnf('744',plain,
~ node114(X3,s0),
inference(resolution,[],['743','153']) ).
cnf('745',plain,
( ~ node121(X,s0,Y)
| node120(X,s0,Y) ),
inference(resolution,[then_simplify],['729','733','736','738','740','742','744']) ).
cnf('746',plain,
node120(c_s,s0,s1),
inference(resolution,[],['728','745']) ).
cnf('747',plain,
( ~ node120(X,Y,Z)
| ~ m_state_v_PM(X,Z,U)
| m_state_v_PM(X,Y,U) ),
inference(cnf_transformation,[],[m_Press_19]) ).
cnf('748',plain,
( ~ node120(X,s0,Y)
| ~ m_state_v_PM(X,Y,c_up) ),
inference(resolution,[],['747','253']) ).
cnf('749',plain,
~ m_state_v_PM(c_s,s1,c_up),
inference(resolution,[],['746','748']) ).
cnf('750',plain,
( ~ node120(c_s,s1,X)
| ~ m_state_v_PM(c_s,X,c_up) ),
inference(resolution,[],['749','747']) ).
cnf('751',plain,
node121(c_s,s1,s2),
inference(resolution,[],['727','60']) ).
cnf('752',plain,
( node63(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_134]) ).
cnf('753',plain,
( node63(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['752','56','57']) ).
cnf('754',plain,
node63(c_s,s0,s1),
inference(resolution,[],['753','7']) ).
cnf('755',plain,
( ~ node63(X,Y,Z)
| node62(X,Y,Z)
| ~ m_state_v_pl(X,Y)
| node61(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_133]) ).
cnf('756',plain,
( ~ node61(X,Y)
| m_state_v_topPosP(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_126]) ).
cnf('757',plain,
~ node61(X3,s0),
inference(resolution,[],['756','735']) ).
cnf('758',plain,
( ~ node63(X,s0,Y)
| node62(X,s0,Y) ),
inference(resolution,[then_simplify],['755','153','757']) ).
cnf('759',plain,
node62(c_s,s0,s1),
inference(resolution,[],['754','758']) ).
cnf('760',plain,
( ~ node62(X,Y,Z)
| ~ m_state_v_fc(X,Z)
| m_state_v_fc(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_130]) ).
cnf('761',plain,
~ m_state_v_fc(X,s0),
inference(cnf_transformation,[],[m_state_103]) ).
cnf('762',plain,
( ~ node62(X,s0,Y)
| ~ m_state_v_fc(X,Y) ),
inference(resolution,[],['760','761']) ).
cnf('763',plain,
~ m_state_v_fc(c_s,s1),
inference(resolution,[],['759','762']) ).
cnf('764',plain,
( ~ node118(X,Y)
| m_state_v_fc(X,Y) ),
inference(cnf_transformation,[],[m_Press_15]) ).
cnf('765',plain,
~ node118(c_s,s1),
inference(resolution,[],['763','764']) ).
cnf('766',plain,
( node52(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_104]) ).
cnf('767',plain,
( node52(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['766','56','57']) ).
cnf('768',plain,
node52(c_s,s0,s1),
inference(resolution,[],['767','7']) ).
cnf('769',plain,
( ~ node52(X,Y,Z)
| node51(X,Y,Z)
| node50(X,Y)
| node49(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_103]) ).
cnf('770',plain,
( ~ node50(X,Y)
| m_state_v_midPosP(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_96]) ).
cnf('771',plain,
~ node50(X,s0),
inference(resolution,[],['770','249']) ).
cnf('772',plain,
( ~ node49(X,Y)
| m_state_v_topPosP(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_94]) ).
cnf('773',plain,
~ node49(X3,s0),
inference(resolution,[],['772','735']) ).
cnf('774',plain,
( ~ node52(X,s0,Y)
| node51(X,s0,Y) ),
inference(resolution,[then_simplify],['769','771','773']) ).
cnf('775',plain,
node51(c_s,s0,s1),
inference(resolution,[],['768','774']) ).
cnf('776',plain,
( ~ node51(X,Y,Z)
| ~ m_state_v_topPosP(X,Z)
| m_state_v_topPosP(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_100]) ).
cnf('777',plain,
( ~ node51(X,s0,Y)
| ~ m_state_v_topPosP(X,Y) ),
inference(resolution,[],['776','735']) ).
cnf('778',plain,
~ m_state_v_topPosP(c_s,s1),
inference(resolution,[],['775','777']) ).
cnf('779',plain,
~ node117(c_s,s1),
inference(resolution,[],['778','737']) ).
cnf('780',plain,
~ node116(c_s,s1),
inference(resolution,[],['260','739']) ).
cnf('781',plain,
( ~ node115(X,Y)
| m_state_v_midPosP(X,Y) ),
inference(cnf_transformation,[],[m_Press_6]) ).
cnf('782',plain,
~ node115(c_s,s1),
inference(resolution,[],['260','781']) ).
cnf('783',plain,
( node163(X,Y,Z)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ m_Robot_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Robot_198]) ).
cnf('784',plain,
( node163(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['783','2','3']) ).
cnf('785',plain,
node163(c_s,s0,s1),
inference(resolution,[],['784','7']) ).
cnf('786',plain,
( ~ node163(X,Y,Z)
| node162(X,Y,Z)
| node161(X,Y)
| node160(X,Y) ),
inference(cnf_transformation,[],[m_Robot_197]) ).
cnf('787',plain,
( m_state_v_angle(X,Y,c_arm1topress)
| ~ node161(X,Y) ),
inference(cnf_transformation,[],[m_Robot_190]) ).
cnf('788',plain,
~ node161(X,s0),
inference(resolution,[],['29','787']) ).
cnf('789',plain,
( m_state_v_A2M(X,Y,c_retract)
| ~ node160(X,Y) ),
inference(cnf_transformation,[],[m_Robot_188]) ).
cnf('790',plain,
~ node160(X3,s0),
inference(resolution,[],['38','789']) ).
cnf('791',plain,
( ~ node163(X,s0,Y)
| node162(X,s0,Y) ),
inference(resolution,[then_simplify],['786','788','790']) ).
cnf('792',plain,
node162(c_s,s0,s1),
inference(resolution,[],['785','791']) ).
cnf('793',plain,
( ~ node162(X,Y,Z)
| ~ m_state_v_pl(X,Y)
| m_state_v_pl(X,Z) ),
inference(cnf_transformation,[],[m_Robot_193]) ).
cnf('794',plain,
( ~ node162(X,s0,Y)
| m_state_v_pl(X,Y) ),
inference(resolution,[],['793','153']) ).
cnf('795',plain,
m_state_v_pl(c_s,s1),
inference(resolution,[],['792','794']) ).
cnf('796',plain,
~ node114(c_s,s1),
inference(resolution,[],['795','743']) ).
cnf('797',plain,
( node120(c_s,s1,s2)
| node119(c_s,s1) ),
inference(resolution,[then_simplify],['751','729','765','779','780','782','796']) ).
cnf('798',plain,
( ~ node120(X,s0,Y)
| ~ m_state_v_PM(X,Y,c_down) ),
inference(resolution,[],['747','731']) ).
cnf('799',plain,
~ m_state_v_PM(c_s,s1,c_down),
inference(resolution,[],['746','798']) ).
cnf('800',plain,
~ node119(c_s,s1),
inference(resolution,[],['799','732']) ).
cnf('801',plain,
node120(c_s,s1,s2),
inference(simplify,[],['797','800']) ).
cnf('802',plain,
~ m_state_v_PM(c_s,s2,c_up),
inference(resolution,[],['750','801']) ).
cnf('803',plain,
~ node53(c_s,s2),
inference(resolution,[],['802','254']) ).
cnf('804',plain,
~ node53(c_s,s1),
inference(resolution,[],['749','254']) ).
cnf('805',plain,
node56(c_s,s1,s2),
inference(resolution,[],['245','60']) ).
cnf('806',plain,
( node55(c_s,s1,s2)
| node53(c_s,s1)
| node54(c_s,s1) ),
inference(resolution,[],['805','247']) ).
cnf('807',plain,
~ node54(c_s,s1),
inference(resolution,[],['260','248']) ).
cnf('808',plain,
( node55(c_s,s1,s2)
| node53(c_s,s1) ),
inference(simplify,[],['806','807']) ).
cnf('809',plain,
node55(c_s,s1,s2),
inference(resolution,[],['804','808']) ).
cnf('810',plain,
~ m_state_v_midPosP(c_s,s1),
inference(resolution,[],['257','259']) ).
cnf('811',plain,
~ m_state_v_midPosP(c_s,s2),
inference(resolution,[then_simplify],['809','258','810']) ).
cnf('812',plain,
~ node54(c_s,s2),
inference(resolution,[],['811','248']) ).
cnf('813',plain,
node56(c_s,s2,s3),
inference(resolution,[],['245','175']) ).
cnf('814',plain,
( node55(c_s,s2,s3)
| node53(c_s,s2)
| node54(c_s,s2) ),
inference(resolution,[],['813','247']) ).
cnf('815',plain,
( node55(c_s,s2,s3)
| node53(c_s,s2) ),
inference(resolution,[],['812','814']) ).
cnf('816',plain,
node55(c_s,s2,s3),
inference(resolution,[],['803','815']) ).
cnf('817',plain,
~ m_state_v_midPosP(c_s,s2),
inference(resolution,[then_simplify],['809','258','810']) ).
cnf('818',plain,
~ m_state_v_midPosP(c_s,s3),
inference(resolution,[then_simplify],['816','258','817']) ).
cnf('819',plain,
~ node123(c_s,s3),
inference(resolution,[],['818','261']) ).
cnf('820',plain,
( node122(c_s,s3)
| node128(c_s,s3)
| node129(c_s,s3)
| ~ node131(c_s,s3,X)
| node130(c_s,s3,X) ),
inference(resolution,[then_simplify],['720','139','721','722','723','819']) ).
cnf('821',plain,
node131(c_s,s3,s4),
inference(resolution,[],['137','386']) ).
cnf('822',plain,
( node130(c_s,s3,s4)
| node122(c_s,s3)
| node128(c_s,s3)
| node129(c_s,s3) ),
inference(resolution,[],['820','821']) ).
cnf('823',plain,
~ node128(c_s,s3),
inference(resolution,[],['566','142']) ).
cnf('824',plain,
( m_state_v_A1M(X,Y,c_retract)
| ~ node129(X,Y) ),
inference(cnf_transformation,[],[m_Robot_41]) ).
cnf('825',plain,
~ node129(c_s,s3),
inference(resolution,[],['566','824']) ).
cnf('826',plain,
node130(c_s,s3,s4),
inference(resolution,[then_simplify],['719','822','823','825']) ).
cnf('827',plain,
m_state_v_A1M(c_s,s4,c_extend),
inference(resolution,[],['717','826']) ).
cnf('828',plain,
m_state_v_a1ext(c_s,s5,c_ot),
inference(resolution,[then_simplify],['395','716','827']) ).
cnf('829',plain,
~ m_state_v_a1ext(c_s,s5,c_retracted),
inference(resolution,[],['828','212']) ).
cnf('830',plain,
( m_state_v_a1ext(X,Y,c_retracted)
| ~ node154(X,Y) ),
inference(cnf_transformation,[],[m_Robot_143]) ).
cnf('831',plain,
~ node154(c_s,s5),
inference(resolution,[],['829','830']) ).
cnf('832',plain,
node145(c_s,s4,s5),
inference(resolution,[],['105','601']) ).
cnf('833',plain,
( ~ node145(X,Y,Z)
| ~ m_state_v_a1ext(X,Y,c_ot)
| ~ m_state_v_A1M(X,Y,c_extend)
| ~ m_state_v_angle(X,Y,c_arm1totable)
| m_state_v_A1Mag(X,Z,c_on) ),
inference(cnf_transformation,[],[m_Robot_115]) ).
cnf('834',plain,
( ~ m_state_v_A1M(c_s,s4,c_extend)
| ~ m_state_v_a1ext(c_s,s4,c_ot)
| ~ m_state_v_angle(c_s,s4,c_arm1totable)
| m_state_v_A1Mag(c_s,s5,c_on) ),
inference(resolution,[],['832','833']) ).
cnf('835',plain,
m_state_v_a1ext(c_s,s4,c_ot),
inference(resolution,[then_simplify],['187','614','615']) ).
cnf('836',plain,
m_state_v_A1Mag(c_s,s5,c_on),
inference(resolution,[then_simplify],['395','834','827','835']) ).
cnf('837',plain,
~ m_state_v_A1Mag(c_s,s5,c_off),
inference(resolution,[],['836','15']) ).
cnf('838',plain,
( m_state_v_A1Mag(X,Y,c_off)
| ~ node157(X,Y) ),
inference(cnf_transformation,[],[m_Robot_172]) ).
cnf('839',plain,
~ node157(c_s,s5),
inference(resolution,[],['837','838']) ).
cnf('840',plain,
( m_state_v_a1ext(X,Y,c_retracted)
| ~ node156(X,Y) ),
inference(cnf_transformation,[],[m_Robot_159]) ).
cnf('841',plain,
~ node156(c_s,s5),
inference(resolution,[],['829','840']) ).
cnf('842',plain,
( ~ node148(c_s,s4,X)
| m_state_v_A2Mag(c_s,X,c_off) ),
inference(resolution,[],['662','642']) ).
cnf('843',plain,
( ~ node35(c_s,s3,X)
| ~ m_state_v_a2ext(c_s,X,c_ob) ),
inference(resolution,[],['653','305']) ).
cnf('844',plain,
( ~ node140(c_s,s2,X)
| ~ m_state_v_A2M(c_s,X,c_extend) ),
inference(resolution,[],['437','347']) ).
cnf('845',plain,
~ m_state_v_A2M(c_s,s3,c_extend),
inference(resolution,[],['580','844']) ).
cnf('846',plain,
~ node34(c_s,s3),
inference(resolution,[],['845','647']) ).
cnf('847',plain,
node36(c_s,s3,s4),
inference(resolution,[],['294','386']) ).
cnf('848',plain,
( m_state_v_A2M(c_s,s3,c_retract)
| node35(c_s,s3,s4)
| node33(c_s,s3)
| node34(c_s,s3) ),
inference(resolution,[],['847','296']) ).
cnf('849',plain,
~ m_state_v_A2M(c_s,s3,c_retract),
inference(resolution,[],['580','581']) ).
cnf('850',plain,
~ node33(c_s,s3),
inference(resolution,[],['845','301']) ).
cnf('851',plain,
node35(c_s,s3,s4),
inference(resolution,[then_simplify],['846','848','849','850']) ).
cnf('852',plain,
~ m_state_v_a2ext(c_s,s4,c_ob),
inference(resolution,[],['843','851']) ).
cnf('853',plain,
~ node147(c_s,s4),
inference(resolution,[],['852','403']) ).
cnf('854',plain,
( ~ node35(c_s,s3,X)
| ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
inference(resolution,[],['656','305']) ).
cnf('855',plain,
~ m_state_v_a2ext(c_s,s4,c_a2ip),
inference(resolution,[],['854','851']) ).
cnf('856',plain,
~ node146(c_s,s4),
inference(resolution,[],['855','405']) ).
cnf('857',plain,
node149(c_s,s4,s5),
inference(resolution,[],['400','601']) ).
cnf('858',plain,
( node148(c_s,s4,s5)
| node146(c_s,s4)
| node147(c_s,s4) ),
inference(resolution,[],['857','402']) ).
cnf('859',plain,
( node148(c_s,s4,s5)
| node147(c_s,s4) ),
inference(resolution,[],['856','858']) ).
cnf('860',plain,
node148(c_s,s4,s5),
inference(resolution,[],['853','859']) ).
cnf('861',plain,
m_state_v_A2Mag(c_s,s5,c_off),
inference(resolution,[],['842','860']) ).
cnf('862',plain,
~ m_state_v_A2Mag(c_s,s5,c_on),
inference(resolution,[],['861','20']) ).
cnf('863',plain,
~ node155(c_s,s5),
inference(resolution,[],['862','23']) ).
cnf('864',plain,
node131(c_s,s4,s5),
inference(resolution,[],['137','601']) ).
cnf('865',plain,
( ~ node131(X,Y,Z)
| ~ m_state_v_a1ext(X,Y,c_ot)
| ~ m_state_v_A1M(X,Y,c_extend)
| ~ m_state_v_angle(X,Y,c_arm1totable)
| m_state_v_A1M(X,Z,c_idle)
| node123(X,Y)
| node122(X,Y) ),
inference(cnf_transformation,[],[m_Robot_47]) ).
cnf('866',plain,
( ~ node120(c_s,s2,X)
| ~ m_state_v_PM(c_s,X,c_up) ),
inference(resolution,[],['802','747']) ).
cnf('867',plain,
( ~ node120(c_s,s1,X)
| ~ m_state_v_PM(c_s,X,c_down) ),
inference(resolution,[],['799','747']) ).
cnf('868',plain,
~ m_state_v_PM(c_s,s2,c_down),
inference(resolution,[],['867','801']) ).
cnf('869',plain,
~ node119(c_s,s2),
inference(resolution,[],['868','732']) ).
cnf('870',plain,
node52(c_s,s1,s2),
inference(resolution,[],['767','60']) ).
cnf('871',plain,
~ node50(c_s,s1),
inference(resolution,[],['260','770']) ).
cnf('872',plain,
( node51(c_s,s1,s2)
| node49(c_s,s1) ),
inference(resolution,[then_simplify],['870','769','871']) ).
cnf('873',plain,
~ node49(c_s,s1),
inference(resolution,[],['778','772']) ).
cnf('874',plain,
node51(c_s,s1,s2),
inference(simplify,[],['872','873']) ).
cnf('875',plain,
~ m_state_v_topPosP(c_s,s1),
inference(resolution,[],['775','777']) ).
cnf('876',plain,
~ m_state_v_topPosP(c_s,s2),
inference(resolution,[then_simplify],['874','776','875']) ).
cnf('877',plain,
~ node118(c_s,s2),
inference(resolution,[],['876','734']) ).
cnf('878',plain,
~ node117(c_s,s2),
inference(resolution,[],['876','737']) ).
cnf('879',plain,
~ node116(c_s,s2),
inference(resolution,[],['811','739']) ).
cnf('880',plain,
( m_state_v_angle(X,Y,c_arm2topress)
| ~ node160(X,Y) ),
inference(cnf_transformation,[],[m_Robot_187]) ).
cnf('881',plain,
~ node160(c_s,s1),
inference(resolution,[],['133','880']) ).
cnf('882',plain,
node163(c_s,s1,s2),
inference(resolution,[],['784','60']) ).
cnf('883',plain,
( node162(c_s,s1,s2)
| node160(c_s,s1)
| node161(c_s,s1) ),
inference(resolution,[],['882','786']) ).
cnf('884',plain,
~ node161(c_s,s1),
inference(resolution,[],['125','787']) ).
cnf('885',plain,
node162(c_s,s1,s2),
inference(resolution,[then_simplify],['881','883','884']) ).
cnf('886',plain,
m_state_v_pl(c_s,s1),
inference(resolution,[],['792','794']) ).
cnf('887',plain,
m_state_v_pl(c_s,s2),
inference(resolution,[then_simplify],['885','793','886']) ).
cnf('888',plain,
~ node115(c_s,s2),
inference(resolution,[],['887','741']) ).
cnf('889',plain,
~ node114(c_s,s2),
inference(resolution,[],['887','743']) ).
cnf('890',plain,
( ~ node121(c_s,s2,X)
| node120(c_s,s2,X) ),
inference(resolution,[then_simplify],['869','729','877','878','879','888','889']) ).
cnf('891',plain,
node121(c_s,s2,s3),
inference(resolution,[],['727','175']) ).
cnf('892',plain,
node120(c_s,s2,s3),
inference(resolution,[],['890','891']) ).
cnf('893',plain,
~ m_state_v_PM(c_s,s3,c_up),
inference(resolution,[],['866','892']) ).
cnf('894',plain,
~ node53(c_s,s3),
inference(resolution,[],['893','254']) ).
cnf('895',plain,
~ node54(c_s,s3),
inference(resolution,[],['818','248']) ).
cnf('896',plain,
node56(c_s,s3,s4),
inference(resolution,[],['245','386']) ).
cnf('897',plain,
( node55(c_s,s3,s4)
| node53(c_s,s3)
| node54(c_s,s3) ),
inference(resolution,[],['896','247']) ).
cnf('898',plain,
( node55(c_s,s3,s4)
| node53(c_s,s3) ),
inference(resolution,[],['895','897']) ).
cnf('899',plain,
node55(c_s,s3,s4),
inference(resolution,[],['894','898']) ).
cnf('900',plain,
~ m_state_v_midPosP(c_s,s3),
inference(resolution,[then_simplify],['816','258','817']) ).
cnf('901',plain,
~ m_state_v_midPosP(c_s,s4),
inference(resolution,[then_simplify],['899','258','900']) ).
cnf('902',plain,
~ node123(c_s,s4),
inference(resolution,[],['901','261']) ).
cnf('903',plain,
( ~ m_state_v_A1M(c_s,s4,c_extend)
| ~ m_state_v_a1ext(c_s,s4,c_ot)
| ~ m_state_v_angle(c_s,s4,c_arm1totable)
| m_state_v_A1M(c_s,s5,c_idle)
| node122(c_s,s4) ),
inference(resolution,[then_simplify],['864','865','902']) ).
cnf('904',plain,
( m_state_v_a1ext(X,Y,c_retracted)
| ~ node122(X,Y) ),
inference(cnf_transformation,[],[m_Robot_2]) ).
cnf('905',plain,
~ node122(c_s,s4),
inference(resolution,[],['617','904']) ).
cnf('906',plain,
m_state_v_A1M(c_s,s5,c_idle),
inference(resolution,[then_simplify],['395','903','827','835','905']) ).
cnf('907',plain,
~ m_state_v_A1M(c_s,s5,c_retract),
inference(resolution,[],['906','41']) ).
cnf('908',plain,
~ node153(c_s,s5),
inference(resolution,[],['907','283']) ).
cnf('909',plain,
~ m_state_v_A2M(c_s,s3,c_extend),
inference(resolution,[],['580','844']) ).
cnf('910',plain,
m_state_v_A2M(c_s,s3,c_idle),
inference(resolution,[then_simplify],['582','438','909']) ).
cnf('911',plain,
( ~ node140(X,Y,Z)
| ~ m_state_v_A2M(X,Y,U)
| m_state_v_A2M(X,Z,U) ),
inference(cnf_transformation,[],[m_Robot_95]) ).
cnf('912',plain,
( ~ node140(c_s,s3,X)
| m_state_v_A2M(c_s,X,c_idle) ),
inference(resolution,[],['910','911']) ).
cnf('913',plain,
m_state_v_A2M(c_s,s4,c_idle),
inference(resolution,[],['680','912']) ).
cnf('914',plain,
( ~ node140(c_s,s4,X)
| m_state_v_A2M(c_s,X,c_idle) ),
inference(resolution,[],['913','911']) ).
cnf('915',plain,
~ node132(c_s,s4),
inference(resolution,[],['639','344']) ).
cnf('916',plain,
~ node138(c_s,s4),
inference(resolution,[],['682','351']) ).
cnf('917',plain,
~ node137(c_s,s4),
inference(resolution,[],['852','311']) ).
cnf('918',plain,
~ node136(c_s,s4),
inference(resolution,[],['663','355']) ).
cnf('919',plain,
~ node135(c_s,s4),
inference(resolution,[],['852','319']) ).
cnf('920',plain,
~ node134(c_s,s4),
inference(resolution,[],['855','321']) ).
cnf('921',plain,
~ node133(c_s,s4),
inference(resolution,[],['663','675']) ).
cnf('922',plain,
( node132(c_s,s4)
| node138(c_s,s4)
| node139(c_s,s4)
| ~ node141(c_s,s4,X)
| node140(c_s,s4,X) ),
inference(resolution,[then_simplify],['917','288','918','919','920','921']) ).
cnf('923',plain,
node141(c_s,s4,s5),
inference(resolution,[],['286','601']) ).
cnf('924',plain,
( node140(c_s,s4,s5)
| node132(c_s,s4)
| node138(c_s,s4)
| node139(c_s,s4) ),
inference(resolution,[],['922','923']) ).
cnf('925',plain,
~ node139(c_s,s4),
inference(resolution,[],['682','569']) ).
cnf('926',plain,
( node140(c_s,s4,s5)
| node132(c_s,s4) ),
inference(resolution,[then_simplify],['916','924','925']) ).
cnf('927',plain,
node140(c_s,s4,s5),
inference(resolution,[],['915','926']) ).
cnf('928',plain,
m_state_v_A2M(c_s,s5,c_idle),
inference(resolution,[],['914','927']) ).
cnf('929',plain,
~ m_state_v_A2M(c_s,s5,c_retract),
inference(resolution,[],['928','36']) ).
cnf('930',plain,
~ node152(c_s,s5),
inference(resolution,[],['929','368']) ).
cnf('931',plain,
~ node151(c_s,s5),
inference(resolution,[],['929','39']) ).
cnf('932',plain,
~ node150(c_s,s5),
inference(resolution,[],['907','44']) ).
cnf('933',plain,
( ~ node159(c_s,s5,X)
| node158(c_s,s5,X) ),
inference(resolution,[then_simplify],['831','9','839','841','863','908','930','931','932']) ).
cnf('934',plain,
node159(c_s,s5,s6),
inference(resolution,[],['4','704']) ).
cnf('935',plain,
node158(c_s,s5,s6),
inference(resolution,[],['933','934']) ).
cnf('936',plain,
( ~ m_state_v_RRM(c_s,s6,X)
| m_state_v_RRM(c_s,s5,X) ),
inference(resolution,[],['935','48']) ).
cnf('937',plain,
~ m_state_v_RRM(c_s,s6,c_counterclock),
inference(resolution,[],['936','691']) ).
cnf('938',plain,
~ node37(c_s,s6),
inference(resolution,[],['937','53']) ).
cnf('939',plain,
~ m_state_v_RRM(c_s,s4,c_clockwise),
inference(resolution,[],['694','588']) ).
cnf('940',plain,
~ m_state_v_RRM(c_s,s5,c_clockwise),
inference(resolution,[],['690','939']) ).
cnf('941',plain,
m_state_v_RRM(c_s,s5,c_idle),
inference(resolution,[then_simplify],['691','67','940']) ).
cnf('942',plain,
node48(c_s,s5,s6),
inference(resolution,[],['64','704']) ).
cnf('943',plain,
( ~ m_state_v_angle(c_s,s5,c_arm1totable)
| ~ m_state_v_RRM(c_s,s5,c_idle)
| m_state_v_angle_status(c_s,s6,c_arm1stoppedattable) ),
inference(resolution,[],['942','66']) ).
cnf('944',plain,
m_state_v_angle(c_s,s5,c_arm1totable),
inference(resolution,[],['396','609']) ).
cnf('945',plain,
m_state_v_angle_status(c_s,s6,c_arm1stoppedattable),
inference(resolution,[then_simplify],['941','943','944']) ).
cnf('946',plain,
~ m_state_v_angle_status(c_s,s6,c_arm1stoppedatpress),
inference(resolution,[],['945','72']) ).
cnf('947',plain,
~ node40(c_s,s6),
inference(resolution,[],['946','74']) ).
cnf('948',plain,
succ(s6,s7),
inference(cnf_transformation,[],[bound7]) ).
cnf('949',plain,
trans(s6,s7),
inference(resolution,[],['5','948']) ).
cnf('950',plain,
node42(c_s,s6,s7),
inference(resolution,[],['58','949']) ).
cnf('951',plain,
( node41(c_s,s6,s7)
| node37(c_s,s6)
| node38(c_s,s6)
| node39(c_s,s6)
| node40(c_s,s6) ),
inference(resolution,[],['950','62']) ).
cnf('952',plain,
~ m_state_v_angle_status(c_s,s6,c_arm2stoppedatpress),
inference(resolution,[],['945','80']) ).
cnf('953',plain,
~ node38(c_s,s6),
inference(resolution,[],['952','82']) ).
cnf('954',plain,
~ m_state_v_angle_status(c_s,s6,c_arm2stoppedatbelt),
inference(resolution,[],['945','76']) ).
cnf('955',plain,
~ node39(c_s,s6),
inference(resolution,[],['954','78']) ).
cnf('956',plain,
( node41(c_s,s6,s7)
| node37(c_s,s6) ),
inference(resolution,[then_simplify],['947','951','953','955']) ).
cnf('957',plain,
node41(c_s,s6,s7),
inference(resolution,[],['938','956']) ).
cnf('958',plain,
m_state_v_angle(c_s,s7,c_arm1totable),
inference(resolution,[],['714','957']) ).
cnf('959',plain,
( ~ node41(c_s,s7,X)
| m_state_v_angle(c_s,X,c_arm1totable) ),
inference(resolution,[],['958','96']) ).
cnf('960',plain,
( ~ node31(c_s,s5,X)
| m_state_v_a1ext(c_s,X,c_ot) ),
inference(resolution,[],['828','450']) ).
cnf('961',plain,
~ m_state_v_A1M(c_s,s5,c_extend),
inference(resolution,[],['906','110']) ).
cnf('962',plain,
~ node30(c_s,s5),
inference(resolution,[],['961','624']) ).
cnf('963',plain,
node32(c_s,s5,s6),
inference(resolution,[],['195','704']) ).
cnf('964',plain,
( node31(c_s,s5,s6)
| m_state_v_A1M(c_s,s5,c_retract)
| node29(c_s,s5)
| node30(c_s,s5) ),
inference(resolution,[],['963','197']) ).
cnf('965',plain,
~ m_state_v_A1M(c_s,s5,c_retract),
inference(resolution,[],['906','41']) ).
cnf('966',plain,
~ node29(c_s,s5),
inference(resolution,[],['961','200']) ).
cnf('967',plain,
node31(c_s,s5,s6),
inference(resolution,[then_simplify],['962','964','965','966']) ).
cnf('968',plain,
m_state_v_a1ext(c_s,s6,c_ot),
inference(resolution,[],['960','967']) ).
cnf('969',plain,
~ m_state_v_a1ext(c_s,s6,c_retracted),
inference(resolution,[],['968','212']) ).
cnf('970',plain,
~ node153(c_s,s6),
inference(resolution,[],['969','666']) ).
cnf('971',plain,
node131(c_s,s5,s6),
inference(resolution,[],['137','704']) ).
cnf('972',plain,
( ~ node131(X,Y,Z)
| ~ m_state_v_A1Mag(X,Y,c_on)
| ~ m_state_v_a1ext(X,Y,c_ot)
| ~ m_state_v_A1M(X,Y,c_idle)
| ~ m_state_v_angle(X,Y,c_arm1totable)
| m_state_v_A1M(X,Z,c_retract)
| node125(X,Y)
| node124(X,Y)
| node123(X,Y)
| node122(X,Y) ),
inference(cnf_transformation,[],[m_Robot_49]) ).
cnf('973',plain,
( ~ m_state_v_A1M(c_s,s5,c_idle)
| ~ m_state_v_a1ext(c_s,s5,c_ot)
| ~ m_state_v_angle(c_s,s5,c_arm1totable)
| ~ m_state_v_A1Mag(c_s,s5,c_on)
| m_state_v_A1M(c_s,s6,c_retract)
| node122(c_s,s5)
| node123(c_s,s5)
| node124(c_s,s5)
| node125(c_s,s5) ),
inference(resolution,[],['971','972']) ).
cnf('974',plain,
( m_state_v_A1M(X,Y,c_retract)
| ~ node161(X,Y) ),
inference(cnf_transformation,[],[m_Robot_191]) ).
cnf('975',plain,
~ node161(c_s,s2),
inference(resolution,[],['282','974']) ).
cnf('976',plain,
~ node160(c_s,s2),
inference(resolution,[],['367','789']) ).
cnf('977',plain,
node163(c_s,s2,s3),
inference(resolution,[],['784','175']) ).
cnf('978',plain,
( node162(c_s,s2,s3)
| node160(c_s,s2)
| node161(c_s,s2) ),
inference(resolution,[],['977','786']) ).
cnf('979',plain,
( node162(c_s,s2,s3)
| node161(c_s,s2) ),
inference(resolution,[],['976','978']) ).
cnf('980',plain,
node162(c_s,s2,s3),
inference(resolution,[],['975','979']) ).
cnf('981',plain,
m_state_v_pl(c_s,s2),
inference(resolution,[then_simplify],['885','793','886']) ).
cnf('982',plain,
m_state_v_pl(c_s,s3),
inference(resolution,[then_simplify],['980','793','981']) ).
cnf('983',plain,
~ node114(c_s,s3),
inference(resolution,[],['982','743']) ).
cnf('984',plain,
( ~ node120(c_s,s2,X)
| ~ m_state_v_PM(c_s,X,c_down) ),
inference(resolution,[],['868','747']) ).
cnf('985',plain,
~ m_state_v_PM(c_s,s3,c_down),
inference(resolution,[],['892','984']) ).
cnf('986',plain,
~ node119(c_s,s3),
inference(resolution,[],['985','732']) ).
cnf('987',plain,
~ node61(c_s,s2),
inference(resolution,[],['876','756']) ).
cnf('988',plain,
node63(c_s,s2,s3),
inference(resolution,[],['753','175']) ).
cnf('989',plain,
( ~ m_state_v_pl(c_s,s2)
| node62(c_s,s2,s3)
| node61(c_s,s2) ),
inference(resolution,[],['988','755']) ).
cnf('990',plain,
( ~ m_state_v_pl(c_s,s2)
| node62(c_s,s2,s3) ),
inference(resolution,[],['987','989']) ).
cnf('991',plain,
node62(c_s,s2,s3),
inference(resolution,[],['887','990']) ).
cnf('992',plain,
~ node61(c_s,s1),
inference(resolution,[],['778','756']) ).
cnf('993',plain,
node63(c_s,s1,s2),
inference(resolution,[],['753','60']) ).
cnf('994',plain,
( ~ m_state_v_pl(c_s,s1)
| node62(c_s,s1,s2)
| node61(c_s,s1) ),
inference(resolution,[],['993','755']) ).
cnf('995',plain,
( ~ m_state_v_pl(c_s,s1)
| node62(c_s,s1,s2) ),
inference(resolution,[],['992','994']) ).
cnf('996',plain,
node62(c_s,s1,s2),
inference(resolution,[],['795','995']) ).
cnf('997',plain,
~ m_state_v_fc(c_s,s1),
inference(resolution,[],['759','762']) ).
cnf('998',plain,
~ m_state_v_fc(c_s,s2),
inference(resolution,[then_simplify],['996','760','997']) ).
cnf('999',plain,
~ m_state_v_fc(c_s,s3),
inference(resolution,[then_simplify],['991','760','998']) ).
cnf('1000',plain,
~ node118(c_s,s3),
inference(resolution,[],['999','764']) ).
cnf('1001',plain,
~ node50(c_s,s2),
inference(resolution,[],['811','770']) ).
cnf('1002',plain,
node52(c_s,s2,s3),
inference(resolution,[],['767','175']) ).
cnf('1003',plain,
( node51(c_s,s2,s3)
| node49(c_s,s2)
| node50(c_s,s2) ),
inference(resolution,[],['1002','769']) ).
cnf('1004',plain,
~ node49(c_s,s2),
inference(resolution,[],['876','772']) ).
cnf('1005',plain,
( node51(c_s,s2,s3)
| node50(c_s,s2) ),
inference(simplify,[],['1003','1004']) ).
cnf('1006',plain,
node51(c_s,s2,s3),
inference(resolution,[],['1001','1005']) ).
cnf('1007',plain,
~ m_state_v_topPosP(c_s,s2),
inference(resolution,[then_simplify],['874','776','875']) ).
cnf('1008',plain,
~ m_state_v_topPosP(c_s,s3),
inference(resolution,[then_simplify],['1006','776','1007']) ).
cnf('1009',plain,
~ node117(c_s,s3),
inference(resolution,[],['1008','737']) ).
cnf('1010',plain,
~ node116(c_s,s3),
inference(resolution,[],['818','739']) ).
cnf('1011',plain,
~ node115(c_s,s3),
inference(resolution,[],['818','781']) ).
cnf('1012',plain,
( node114(c_s,s3)
| ~ node121(c_s,s3,X)
| node120(c_s,s3,X) ),
inference(resolution,[then_simplify],['986','729','1000','1009','1010','1011']) ).
cnf('1013',plain,
node121(c_s,s3,s4),
inference(resolution,[],['727','386']) ).
cnf('1014',plain,
( node120(c_s,s3,s4)
| node114(c_s,s3) ),
inference(resolution,[],['1012','1013']) ).
cnf('1015',plain,
node120(c_s,s3,s4),
inference(resolution,[],['983','1014']) ).
cnf('1016',plain,
( ~ node120(c_s,s3,X)
| ~ m_state_v_PM(c_s,X,c_up) ),
inference(resolution,[],['893','747']) ).
cnf('1017',plain,
~ m_state_v_PM(c_s,s4,c_up),
inference(resolution,[],['1015','1016']) ).
cnf('1018',plain,
~ node53(c_s,s4),
inference(resolution,[],['1017','254']) ).
cnf('1019',plain,
~ node54(c_s,s4),
inference(resolution,[],['901','248']) ).
cnf('1020',plain,
node56(c_s,s4,s5),
inference(resolution,[],['245','601']) ).
cnf('1021',plain,
( node55(c_s,s4,s5)
| node53(c_s,s4)
| node54(c_s,s4) ),
inference(resolution,[],['1020','247']) ).
cnf('1022',plain,
( node55(c_s,s4,s5)
| node53(c_s,s4) ),
inference(resolution,[],['1019','1021']) ).
cnf('1023',plain,
node55(c_s,s4,s5),
inference(resolution,[],['1018','1022']) ).
cnf('1024',plain,
~ m_state_v_midPosP(c_s,s4),
inference(resolution,[then_simplify],['899','258','900']) ).
cnf('1025',plain,
~ m_state_v_midPosP(c_s,s5),
inference(resolution,[then_simplify],['1023','258','1024']) ).
cnf('1026',plain,
~ node123(c_s,s5),
inference(resolution,[],['1025','261']) ).
cnf('1027',plain,
( ~ m_state_v_A1M(c_s,s5,c_idle)
| ~ m_state_v_a1ext(c_s,s5,c_ot)
| ~ m_state_v_angle(c_s,s5,c_arm1totable)
| ~ m_state_v_A1Mag(c_s,s5,c_on)
| m_state_v_A1M(c_s,s6,c_retract)
| node122(c_s,s5)
| node124(c_s,s5)
| node125(c_s,s5) ),
inference(simplify,[],['973','1026']) ).
cnf('1028',plain,
m_state_v_A1M(c_s,s5,c_idle),
inference(resolution,[then_simplify],['395','903','827','835','905']) ).
cnf('1029',plain,
m_state_v_a1ext(c_s,s5,c_ot),
inference(resolution,[then_simplify],['395','716','827']) ).
cnf('1030',plain,
m_state_v_A1Mag(c_s,s5,c_on),
inference(resolution,[then_simplify],['395','834','827','835']) ).
cnf('1031',plain,
( m_state_v_A1Mag(X,Y,c_off)
| ~ node122(X,Y) ),
inference(cnf_transformation,[],[m_Robot_7]) ).
cnf('1032',plain,
~ node122(c_s,s5),
inference(resolution,[],['837','1031']) ).
cnf('1033',plain,
~ node124(c_s,s5),
inference(resolution,[],['961','150']) ).
cnf('1034',plain,
( m_state_v_A1M(X,Y,c_extend)
| ~ node125(X,Y) ),
inference(cnf_transformation,[],[m_Robot_27]) ).
cnf('1035',plain,
~ node125(c_s,s5),
inference(resolution,[],['961','1034']) ).
cnf('1036',plain,
m_state_v_A1M(c_s,s6,c_retract),
inference(resolution,[then_simplify],['610','1027','1028','1029','1030','1032','1033','1035']) ).
cnf('1037',plain,
~ m_state_v_A1M(c_s,s6,c_idle),
inference(resolution,[],['1036','41']) ).
cnf('1038',plain,
~ node157(c_s,s6),
inference(resolution,[],['1037','538']) ).
cnf('1039',plain,
( m_state_v_A1M(X,Y,c_idle)
| ~ node156(X,Y) ),
inference(cnf_transformation,[],[m_Robot_161]) ).
cnf('1040',plain,
~ node156(c_s,s6),
inference(resolution,[],['1037','1039']) ).
cnf('1041',plain,
( ~ node140(c_s,s3,X)
| ~ m_state_v_A2M(c_s,X,c_extend) ),
inference(resolution,[],['845','347']) ).
cnf('1042',plain,
~ m_state_v_A2M(c_s,s4,c_extend),
inference(resolution,[],['680','1041']) ).
cnf('1043',plain,
~ node34(c_s,s4),
inference(resolution,[],['1042','647']) ).
cnf('1044',plain,
node36(c_s,s4,s5),
inference(resolution,[],['294','601']) ).
cnf('1045',plain,
( m_state_v_A2M(c_s,s4,c_retract)
| node35(c_s,s4,s5)
| node33(c_s,s4)
| node34(c_s,s4) ),
inference(resolution,[],['1044','296']) ).
cnf('1046',plain,
~ m_state_v_A2M(c_s,s4,c_retract),
inference(resolution,[],['680','681']) ).
cnf('1047',plain,
~ node33(c_s,s4),
inference(resolution,[],['1042','301']) ).
cnf('1048',plain,
node35(c_s,s4,s5),
inference(resolution,[then_simplify],['1043','1045','1046','1047']) ).
cnf('1049',plain,
( ~ node35(c_s,s4,X)
| ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
inference(resolution,[],['855','305']) ).
cnf('1050',plain,
~ m_state_v_a2ext(c_s,s5,c_a2ip),
inference(resolution,[],['1048','1049']) ).
cnf('1051',plain,
~ node146(c_s,s5),
inference(resolution,[],['1050','405']) ).
cnf('1052',plain,
node149(c_s,s5,s6),
inference(resolution,[],['400','704']) ).
cnf('1053',plain,
( node148(c_s,s5,s6)
| node146(c_s,s5)
| node147(c_s,s5) ),
inference(resolution,[],['1052','402']) ).
cnf('1054',plain,
( ~ node35(c_s,s4,X)
| ~ m_state_v_a2ext(c_s,X,c_ob) ),
inference(resolution,[],['852','305']) ).
cnf('1055',plain,
~ m_state_v_a2ext(c_s,s5,c_ob),
inference(resolution,[],['1048','1054']) ).
cnf('1056',plain,
~ node147(c_s,s5),
inference(resolution,[],['1055','403']) ).
cnf('1057',plain,
node148(c_s,s5,s6),
inference(resolution,[then_simplify],['1051','1053','1056']) ).
cnf('1058',plain,
( ~ node148(c_s,s5,X)
| ~ m_state_v_A2Mag(c_s,X,c_on) ),
inference(resolution,[],['862','408']) ).
cnf('1059',plain,
~ m_state_v_A2Mag(c_s,s6,c_on),
inference(resolution,[],['1057','1058']) ).
cnf('1060',plain,
~ node155(c_s,s6),
inference(resolution,[],['1059','23']) ).
cnf('1061',plain,
( m_state_v_A1M(X,Y,c_idle)
| ~ node154(X,Y) ),
inference(cnf_transformation,[],[m_Robot_145]) ).
cnf('1062',plain,
~ node154(c_s,s6),
inference(resolution,[],['1037','1061']) ).
cnf('1063',plain,
( m_state_v_a1ext(X,Y,c_retracted)
| ~ node132(X,Y) ),
inference(cnf_transformation,[],[m_Robot_56]) ).
cnf('1064',plain,
~ node132(c_s,s5),
inference(resolution,[],['829','1063']) ).
cnf('1065',plain,
~ node138(c_s,s5),
inference(resolution,[],['929','351']) ).
cnf('1066',plain,
~ node136(c_s,s5),
inference(resolution,[],['862','355']) ).
cnf('1067',plain,
~ node133(c_s,s5),
inference(resolution,[],['862','675']) ).
cnf('1068',plain,
( node132(c_s,s5)
| node134(c_s,s5)
| node135(c_s,s5)
| node137(c_s,s5)
| node138(c_s,s5)
| node139(c_s,s5)
| ~ node141(c_s,s5,X)
| node140(c_s,s5,X) ),
inference(resolution,[then_simplify],['1066','288','1067']) ).
cnf('1069',plain,
node141(c_s,s5,s6),
inference(resolution,[],['286','704']) ).
cnf('1070',plain,
( node140(c_s,s5,s6)
| node132(c_s,s5)
| node134(c_s,s5)
| node135(c_s,s5)
| node137(c_s,s5)
| node138(c_s,s5)
| node139(c_s,s5) ),
inference(resolution,[],['1068','1069']) ).
cnf('1071',plain,
~ node134(c_s,s5),
inference(resolution,[],['1050','321']) ).
cnf('1072',plain,
~ node135(c_s,s5),
inference(resolution,[],['1055','319']) ).
cnf('1073',plain,
~ node137(c_s,s5),
inference(resolution,[],['1055','311']) ).
cnf('1074',plain,
~ node139(c_s,s5),
inference(resolution,[],['929','569']) ).
cnf('1075',plain,
( node140(c_s,s5,s6)
| node132(c_s,s5) ),
inference(resolution,[then_simplify],['1065','1070','1071','1072','1073','1074']) ).
cnf('1076',plain,
node140(c_s,s5,s6),
inference(resolution,[],['1064','1075']) ).
cnf('1077',plain,
( ~ node140(c_s,s5,X)
| ~ m_state_v_A2M(c_s,X,c_retract) ),
inference(resolution,[],['929','347']) ).
cnf('1078',plain,
~ m_state_v_A2M(c_s,s6,c_retract),
inference(resolution,[],['1076','1077']) ).
cnf('1079',plain,
~ node152(c_s,s6),
inference(resolution,[],['1078','368']) ).
cnf('1080',plain,
~ node151(c_s,s6),
inference(resolution,[],['1078','39']) ).
cnf('1081',plain,
~ node150(c_s,s6),
inference(resolution,[],['969','685']) ).
cnf('1082',plain,
( ~ node159(c_s,s6,X)
| node158(c_s,s6,X) ),
inference(resolution,[then_simplify],['970','9','1038','1040','1060','1062','1079','1080','1081']) ).
cnf('1083',plain,
node159(c_s,s6,s7),
inference(resolution,[],['4','949']) ).
cnf('1084',plain,
node158(c_s,s6,s7),
inference(resolution,[],['1082','1083']) ).
cnf('1085',plain,
( ~ m_state_v_RRM(c_s,s7,X)
| m_state_v_RRM(c_s,s6,X) ),
inference(resolution,[],['1084','48']) ).
cnf('1086',plain,
~ m_state_v_RRM(c_s,s7,c_counterclock),
inference(resolution,[],['1085','937']) ).
cnf('1087',plain,
~ node37(c_s,s7),
inference(resolution,[],['1086','53']) ).
cnf('1088',plain,
~ m_state_v_RRM(c_s,s5,c_clockwise),
inference(resolution,[],['690','939']) ).
cnf('1089',plain,
~ m_state_v_RRM(c_s,s6,c_clockwise),
inference(resolution,[],['936','1088']) ).
cnf('1090',plain,
~ m_state_v_RRM(c_s,s6,c_counterclock),
inference(resolution,[],['936','691']) ).
cnf('1091',plain,
m_state_v_RRM(c_s,s6,c_idle),
inference(resolution,[then_simplify],['1089','67','1090']) ).
cnf('1092',plain,
node48(c_s,s6,s7),
inference(resolution,[],['64','949']) ).
cnf('1093',plain,
( ~ m_state_v_angle(c_s,s6,c_arm1totable)
| ~ m_state_v_RRM(c_s,s6,c_idle)
| m_state_v_angle_status(c_s,s7,c_arm1stoppedattable) ),
inference(resolution,[],['1092','66']) ).
cnf('1094',plain,
m_state_v_angle(c_s,s6,c_arm1totable),
inference(resolution,[],['611','712']) ).
cnf('1095',plain,
m_state_v_angle_status(c_s,s7,c_arm1stoppedattable),
inference(resolution,[then_simplify],['1091','1093','1094']) ).
cnf('1096',plain,
~ m_state_v_angle_status(c_s,s7,c_arm1stoppedatpress),
inference(resolution,[],['1095','72']) ).
cnf('1097',plain,
~ node40(c_s,s7),
inference(resolution,[],['1096','74']) ).
cnf('1098',plain,
succ(s7,s8),
inference(cnf_transformation,[],[bound8]) ).
cnf('1099',plain,
trans(s7,s8),
inference(resolution,[],['5','1098']) ).
cnf('1100',plain,
node42(c_s,s7,s8),
inference(resolution,[],['58','1099']) ).
cnf('1101',plain,
( node41(c_s,s7,s8)
| node37(c_s,s7)
| node38(c_s,s7)
| node39(c_s,s7)
| node40(c_s,s7) ),
inference(resolution,[],['1100','62']) ).
cnf('1102',plain,
~ m_state_v_angle_status(c_s,s7,c_arm2stoppedatpress),
inference(resolution,[],['1095','80']) ).
cnf('1103',plain,
~ node38(c_s,s7),
inference(resolution,[],['1102','82']) ).
cnf('1104',plain,
~ m_state_v_angle_status(c_s,s7,c_arm2stoppedatbelt),
inference(resolution,[],['1095','76']) ).
cnf('1105',plain,
~ node39(c_s,s7),
inference(resolution,[],['1104','78']) ).
cnf('1106',plain,
( node41(c_s,s7,s8)
| node37(c_s,s7) ),
inference(resolution,[then_simplify],['1097','1101','1103','1105']) ).
cnf('1107',plain,
node41(c_s,s7,s8),
inference(resolution,[],['1087','1106']) ).
cnf('1108',plain,
m_state_v_angle(c_s,s8,c_arm1totable),
inference(resolution,[],['959','1107']) ).
cnf('1109',plain,
succ(s8,s9),
inference(cnf_transformation,[],[bound9]) ).
cnf('1110',plain,
trans(s8,s9),
inference(resolution,[],['5','1109']) ).
cnf('1111',plain,
node42(c_s,s8,s9),
inference(resolution,[],['58','1110']) ).
cnf('1112',plain,
( ~ node42(X,Y,Z)
| ~ m_state_v_angle_status(X,Y,c_arm1stoppedattable)
| ~ m_state_v_RRM(X,Y,c_counterclock)
| ~ m_state_v_angle(X,Y,c_arm1totable)
| m_state_v_angle(X,Z,c_arm2topress) ),
inference(cnf_transformation,[],[m_Sensor_72]) ).
cnf('1113',plain,
( ~ m_state_v_angle(c_s,s8,c_arm1totable)
| ~ m_state_v_RRM(c_s,s8,c_counterclock)
| ~ m_state_v_angle_status(c_s,s8,c_arm1stoppedattable)
| m_state_v_angle(c_s,s9,c_arm2topress) ),
inference(resolution,[],['1111','1112']) ).
cnf('1114',plain,
( ~ node159(X,Y,Z)
| ~ m_state_v_a1ext(X,Y,c_retracted)
| ~ m_state_v_A1M(X,Y,c_retract)
| ~ m_state_v_angle(X,Y,c_arm1totable)
| m_state_v_RRM(X,Z,c_counterclock) ),
inference(cnf_transformation,[],[m_Robot_177]) ).
cnf('1115',plain,
~ m_state_v_A1M(c_s,s6,c_extend),
inference(resolution,[],['1036','565']) ).
cnf('1116',plain,
~ node30(c_s,s6),
inference(resolution,[],['1115','624']) ).
cnf('1117',plain,
node32(c_s,s6,s7),
inference(resolution,[],['195','949']) ).
cnf('1118',plain,
( ~ node32(X,Y,Z)
| ~ m_state_v_A1M(X,Y,c_retract)
| m_state_v_a1ext(X,Z,c_retracted)
| node30(X,Y)
| node29(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_44]) ).
cnf('1119',plain,
( ~ m_state_v_A1M(c_s,s6,c_retract)
| m_state_v_a1ext(c_s,s7,c_retracted)
| node29(c_s,s6)
| node30(c_s,s6) ),
inference(resolution,[],['1117','1118']) ).
cnf('1120',plain,
m_state_v_A1M(c_s,s6,c_retract),
inference(resolution,[then_simplify],['610','1027','1028','1029','1030','1032','1033','1035']) ).
cnf('1121',plain,
~ node29(c_s,s6),
inference(resolution,[],['1115','200']) ).
cnf('1122',plain,
m_state_v_a1ext(c_s,s7,c_retracted),
inference(resolution,[then_simplify],['1116','1119','1120','1121']) ).
cnf('1123',plain,
( ~ node130(c_s,s6,X)
| m_state_v_A1M(c_s,X,c_retract) ),
inference(resolution,[],['1036','230']) ).
cnf('1124',plain,
( m_state_v_a1ext(X,Y,c_retracted)
| ~ node129(X,Y) ),
inference(cnf_transformation,[],[m_Robot_42]) ).
cnf('1125',plain,
~ node129(c_s,s6),
inference(resolution,[],['969','1124']) ).
cnf('1126',plain,
node131(c_s,s6,s7),
inference(resolution,[],['137','949']) ).
cnf('1127',plain,
( node130(c_s,s6,s7)
| node122(c_s,s6)
| node123(c_s,s6)
| node124(c_s,s6)
| node125(c_s,s6)
| node126(c_s,s6)
| node127(c_s,s6)
| node128(c_s,s6)
| node129(c_s,s6) ),
inference(resolution,[],['1126','139']) ).
cnf('1128',plain,
~ node122(c_s,s6),
inference(resolution,[],['1037','718']) ).
cnf('1129',plain,
~ node161(c_s,s3),
inference(resolution,[],['566','974']) ).
cnf('1130',plain,
~ node160(c_s,s3),
inference(resolution,[],['582','789']) ).
cnf('1131',plain,
node163(c_s,s3,s4),
inference(resolution,[],['784','386']) ).
cnf('1132',plain,
( node162(c_s,s3,s4)
| node160(c_s,s3)
| node161(c_s,s3) ),
inference(resolution,[],['1131','786']) ).
cnf('1133',plain,
( node162(c_s,s3,s4)
| node161(c_s,s3) ),
inference(resolution,[],['1130','1132']) ).
cnf('1134',plain,
node162(c_s,s3,s4),
inference(resolution,[],['1129','1133']) ).
cnf('1135',plain,
m_state_v_pl(c_s,s3),
inference(resolution,[then_simplify],['980','793','981']) ).
cnf('1136',plain,
m_state_v_pl(c_s,s4),
inference(resolution,[then_simplify],['1134','793','1135']) ).
cnf('1137',plain,
~ node114(c_s,s4),
inference(resolution,[],['1136','743']) ).
cnf('1138',plain,
( ~ node120(c_s,s3,X)
| ~ m_state_v_PM(c_s,X,c_down) ),
inference(resolution,[],['985','747']) ).
cnf('1139',plain,
~ m_state_v_PM(c_s,s4,c_down),
inference(resolution,[],['1015','1138']) ).
cnf('1140',plain,
~ node119(c_s,s4),
inference(resolution,[],['1139','732']) ).
cnf('1141',plain,
~ node115(c_s,s4),
inference(resolution,[],['901','781']) ).
cnf('1142',plain,
~ node50(c_s,s3),
inference(resolution,[],['818','770']) ).
cnf('1143',plain,
~ node49(c_s,s3),
inference(resolution,[],['1008','772']) ).
cnf('1144',plain,
node52(c_s,s3,s4),
inference(resolution,[],['767','386']) ).
cnf('1145',plain,
( node51(c_s,s3,s4)
| node49(c_s,s3)
| node50(c_s,s3) ),
inference(resolution,[],['1144','769']) ).
cnf('1146',plain,
( node51(c_s,s3,s4)
| node50(c_s,s3) ),
inference(resolution,[],['1143','1145']) ).
cnf('1147',plain,
node51(c_s,s3,s4),
inference(resolution,[],['1142','1146']) ).
cnf('1148',plain,
~ m_state_v_topPosP(c_s,s3),
inference(resolution,[then_simplify],['1006','776','1007']) ).
cnf('1149',plain,
~ m_state_v_topPosP(c_s,s4),
inference(resolution,[then_simplify],['1147','776','1148']) ).
cnf('1150',plain,
~ node118(c_s,s4),
inference(resolution,[],['1149','734']) ).
cnf('1151',plain,
~ node117(c_s,s4),
inference(resolution,[],['1149','737']) ).
cnf('1152',plain,
~ node116(c_s,s4),
inference(resolution,[],['901','739']) ).
cnf('1153',plain,
( node114(c_s,s4)
| node119(c_s,s4)
| ~ node121(c_s,s4,X)
| node120(c_s,s4,X) ),
inference(resolution,[then_simplify],['1141','729','1150','1151','1152']) ).
cnf('1154',plain,
node121(c_s,s4,s5),
inference(resolution,[],['727','601']) ).
cnf('1155',plain,
( node120(c_s,s4,s5)
| node114(c_s,s4)
| node119(c_s,s4) ),
inference(resolution,[],['1153','1154']) ).
cnf('1156',plain,
( node120(c_s,s4,s5)
| node114(c_s,s4) ),
inference(resolution,[],['1140','1155']) ).
cnf('1157',plain,
node120(c_s,s4,s5),
inference(resolution,[],['1137','1156']) ).
cnf('1158',plain,
( ~ node120(c_s,s4,X)
| ~ m_state_v_PM(c_s,X,c_up) ),
inference(resolution,[],['1017','747']) ).
cnf('1159',plain,
~ m_state_v_PM(c_s,s5,c_up),
inference(resolution,[],['1157','1158']) ).
cnf('1160',plain,
~ node53(c_s,s5),
inference(resolution,[],['1159','254']) ).
cnf('1161',plain,
~ node54(c_s,s5),
inference(resolution,[],['1025','248']) ).
cnf('1162',plain,
node56(c_s,s5,s6),
inference(resolution,[],['245','704']) ).
cnf('1163',plain,
( node55(c_s,s5,s6)
| node53(c_s,s5)
| node54(c_s,s5) ),
inference(resolution,[],['1162','247']) ).
cnf('1164',plain,
( node55(c_s,s5,s6)
| node53(c_s,s5) ),
inference(resolution,[],['1161','1163']) ).
cnf('1165',plain,
node55(c_s,s5,s6),
inference(resolution,[],['1160','1164']) ).
cnf('1166',plain,
~ m_state_v_midPosP(c_s,s5),
inference(resolution,[then_simplify],['1023','258','1024']) ).
cnf('1167',plain,
~ m_state_v_midPosP(c_s,s6),
inference(resolution,[then_simplify],['1165','258','1166']) ).
cnf('1168',plain,
~ node123(c_s,s6),
inference(resolution,[],['1167','261']) ).
cnf('1169',plain,
~ node124(c_s,s6),
inference(resolution,[],['1115','150']) ).
cnf('1170',plain,
~ node125(c_s,s6),
inference(resolution,[],['1115','1034']) ).
cnf('1171',plain,
( m_state_v_A1M(X,Y,c_idle)
| ~ node126(X,Y) ),
inference(cnf_transformation,[],[m_Robot_31]) ).
cnf('1172',plain,
~ node126(c_s,s6),
inference(resolution,[],['1037','1171']) ).
cnf('1173',plain,
( m_state_v_A1M(X,Y,c_idle)
| ~ node127(X,Y) ),
inference(cnf_transformation,[],[m_Robot_35]) ).
cnf('1174',plain,
~ node127(c_s,s6),
inference(resolution,[],['1037','1173']) ).
cnf('1175',plain,
( m_state_v_a1ext(X,Y,c_retracted)
| ~ node128(X,Y) ),
inference(cnf_transformation,[],[m_Robot_39]) ).
cnf('1176',plain,
~ node128(c_s,s6),
inference(resolution,[],['969','1175']) ).
cnf('1177',plain,
node130(c_s,s6,s7),
inference(resolution,[then_simplify],['1125','1127','1128','1168','1169','1170','1172','1174','1176']) ).
cnf('1178',plain,
m_state_v_A1M(c_s,s7,c_retract),
inference(resolution,[],['1123','1177']) ).
cnf('1179',plain,
( ~ node159(c_s,s7,X)
| m_state_v_RRM(c_s,X,c_counterclock) ),
inference(resolution,[then_simplify],['958','1114','1122','1178']) ).
cnf('1180',plain,
node159(c_s,s7,s8),
inference(resolution,[],['4','1099']) ).
cnf('1181',plain,
m_state_v_RRM(c_s,s8,c_counterclock),
inference(resolution,[],['1179','1180']) ).
cnf('1182',plain,
~ m_state_v_RRM(c_s,s7,c_clockwise),
inference(resolution,[],['1085','1089']) ).
cnf('1183',plain,
m_state_v_RRM(c_s,s7,c_idle),
inference(resolution,[then_simplify],['1086','67','1182']) ).
cnf('1184',plain,
node48(c_s,s7,s8),
inference(resolution,[],['64','1099']) ).
cnf('1185',plain,
( ~ m_state_v_angle(c_s,s7,c_arm1totable)
| ~ m_state_v_RRM(c_s,s7,c_idle)
| m_state_v_angle_status(c_s,s8,c_arm1stoppedattable) ),
inference(resolution,[],['1184','66']) ).
cnf('1186',plain,
m_state_v_angle(c_s,s7,c_arm1totable),
inference(resolution,[],['714','957']) ).
cnf('1187',plain,
m_state_v_angle_status(c_s,s8,c_arm1stoppedattable),
inference(resolution,[then_simplify],['1183','1185','1186']) ).
cnf('1188',plain,
m_state_v_angle(c_s,s9,c_arm2topress),
inference(resolution,[then_simplify],['1108','1113','1181','1187']) ).
cnf('1189',plain,
( ~ node41(c_s,s9,X)
| m_state_v_angle(c_s,X,c_arm2topress) ),
inference(resolution,[],['1188','96']) ).
cnf('1190',plain,
m_state_v_angle_status(c_s,s8,c_arm1stoppedattable),
inference(resolution,[then_simplify],['1183','1185','1186']) ).
cnf('1191',plain,
( ~ node47(X,Y,Z)
| ~ m_state_v_angle_status(X,Y,U)
| m_state_v_angle_status(X,Z,U) ),
inference(cnf_transformation,[],[m_Sensor_86]) ).
cnf('1192',plain,
( ~ node47(c_s,s8,X)
| m_state_v_angle_status(c_s,X,c_arm1stoppedattable) ),
inference(resolution,[],['1190','1191']) ).
cnf('1193',plain,
m_state_v_RRM(c_s,s8,c_counterclock),
inference(resolution,[],['1179','1180']) ).
cnf('1194',plain,
~ m_state_v_RRM(c_s,s8,c_idle),
inference(resolution,[],['1193','49']) ).
cnf('1195',plain,
( m_state_v_RRM(X,Y,c_idle)
| ~ node46(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_85]) ).
cnf('1196',plain,
~ node46(c_s,s8),
inference(resolution,[],['1194','1195']) ).
cnf('1197',plain,
node48(c_s,s8,s9),
inference(resolution,[],['64','1110']) ).
cnf('1198',plain,
( ~ node48(X,Y,Z)
| node47(X,Y,Z)
| node46(X,Y)
| node45(X,Y)
| node44(X,Y)
| node43(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_92]) ).
cnf('1199',plain,
( node47(c_s,s8,s9)
| node43(c_s,s8)
| node44(c_s,s8)
| node45(c_s,s8)
| node46(c_s,s8) ),
inference(resolution,[],['1197','1198']) ).
cnf('1200',plain,
( m_state_v_RRM(X,Y,c_idle)
| ~ node43(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_79]) ).
cnf('1201',plain,
~ node43(c_s,s8),
inference(resolution,[],['1194','1200']) ).
cnf('1202',plain,
( m_state_v_RRM(X,Y,c_idle)
| ~ node44(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_81]) ).
cnf('1203',plain,
~ node44(c_s,s8),
inference(resolution,[],['1194','1202']) ).
cnf('1204',plain,
( m_state_v_RRM(X,Y,c_idle)
| ~ node45(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_83]) ).
cnf('1205',plain,
~ node45(c_s,s8),
inference(resolution,[],['1194','1204']) ).
cnf('1206',plain,
node47(c_s,s8,s9),
inference(resolution,[then_simplify],['1196','1199','1201','1203','1205']) ).
cnf('1207',plain,
m_state_v_angle_status(c_s,s9,c_arm1stoppedattable),
inference(resolution,[],['1192','1206']) ).
cnf('1208',plain,
~ m_state_v_angle_status(c_s,s9,c_arm2stoppedatpress),
inference(resolution,[],['1207','80']) ).
cnf('1209',plain,
~ node38(c_s,s9),
inference(resolution,[],['1208','82']) ).
cnf('1210',plain,
( ~ m_state_v_angle(X,Y,c_arm2topress)
| ~ m_state_v_angle(X,Y,c_arm1topress) ),
inference(cnf_transformation,[],[m_state_56]) ).
cnf('1211',plain,
~ m_state_v_angle(c_s,s9,c_arm1topress),
inference(resolution,[],['1188','1210']) ).
cnf('1212',plain,
~ node40(c_s,s9),
inference(resolution,[],['1211','87']) ).
cnf('1213',plain,
succ(s9,s10),
inference(cnf_transformation,[],[bound10]) ).
cnf('1214',plain,
trans(s9,s10),
inference(resolution,[],['5','1213']) ).
cnf('1215',plain,
node42(c_s,s9,s10),
inference(resolution,[],['58','1214']) ).
cnf('1216',plain,
( node41(c_s,s9,s10)
| node37(c_s,s9)
| node38(c_s,s9)
| node39(c_s,s9)
| node40(c_s,s9) ),
inference(resolution,[],['1215','62']) ).
cnf('1217',plain,
~ m_state_v_angle(c_s,s9,c_arm1totable),
inference(resolution,[],['1188','130']) ).
cnf('1218',plain,
( m_state_v_angle(X,Y,c_arm1totable)
| ~ node37(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_58]) ).
cnf('1219',plain,
~ node37(c_s,s9),
inference(resolution,[],['1217','1218']) ).
cnf('1220',plain,
( ~ m_state_v_angle(X,Y,c_arm2topress)
| ~ m_state_v_angle(X,Y,c_arm2todepbelt) ),
inference(cnf_transformation,[],[m_state_55]) ).
cnf('1221',plain,
~ m_state_v_angle(c_s,s9,c_arm2todepbelt),
inference(resolution,[],['1188','1220']) ).
cnf('1222',plain,
~ node39(c_s,s9),
inference(resolution,[],['1221','89']) ).
cnf('1223',plain,
( node41(c_s,s9,s10)
| node38(c_s,s9) ),
inference(resolution,[then_simplify],['1212','1216','1219','1222']) ).
cnf('1224',plain,
node41(c_s,s9,s10),
inference(resolution,[],['1209','1223']) ).
cnf('1225',plain,
m_state_v_angle(c_s,s10,c_arm2topress),
inference(resolution,[],['1189','1224']) ).
cnf('1226',plain,
~ m_state_v_angle(c_s,s10,c_arm1totable),
inference(resolution,[],['1225','130']) ).
cnf('1227',plain,
( m_state_v_angle(X,Y,c_arm1totable)
| ~ node1(X,Y) ),
inference(cnf_transformation,[],[m_Communication_1]) ).
cnf('1228',plain,
~ node1(c_s,s10),
inference(resolution,[],['1226','1227']) ).
cnf('1229',plain,
~ node1(c_s,s3),
inference(resolution,[],['566','495']) ).
cnf('1230',plain,
( node185(X,Y,Z)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_FeedBelt_45]) ).
cnf('1231',plain,
m_FeedBelt_v_s(c_FB,c_s),
inference(cnf_transformation,[],[m_main_5]) ).
cnf('1232',plain,
m_FeedBelt_v_s(c_FB,c_s),
inference(cnf_transformation,[],[m_main_5]) ).
cnf('1233',plain,
( node185(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['1230','1231','1232']) ).
cnf('1234',plain,
node185(c_s,s0,s1),
inference(resolution,[],['1233','7']) ).
cnf('1235',plain,
( ~ node185(X,Y,Z)
| node184(X,Y,Z)
| node183(X,Y)
| node182(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_44]) ).
cnf('1236',plain,
( ~ node183(X,Y)
| ~ m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_38]) ).
cnf('1237',plain,
~ node183(X,s0),
inference(resolution,[],['1236','474']) ).
cnf('1238',plain,
( m_state_v_FBM(X,Y,c_on)
| ~ node182(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_30]) ).
cnf('1239',plain,
~ node182(X3,s0),
inference(resolution,[],['510','1238']) ).
cnf('1240',plain,
( ~ node185(X,s0,Y)
| node184(X,s0,Y) ),
inference(resolution,[then_simplify],['1235','1237','1239']) ).
cnf('1241',plain,
node184(c_s,s0,s1),
inference(resolution,[],['1234','1240']) ).
cnf('1242',plain,
( ~ node184(X,Y,Z)
| ~ m_state_v_FBM(X,Z,U)
| m_state_v_FBM(X,Y,U) ),
inference(cnf_transformation,[],[m_FeedBelt_41]) ).
cnf('1243',plain,
( ~ node184(X,s0,Y)
| ~ m_state_v_FBM(X,Y,c_on) ),
inference(resolution,[],['1242','510']) ).
cnf('1244',plain,
~ m_state_v_FBM(c_s,s1,c_on),
inference(resolution,[],['1241','1243']) ).
cnf('1245',plain,
( ~ node184(c_s,s1,X)
| ~ m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['1244','1242']) ).
cnf('1246',plain,
node185(c_s,s1,s2),
inference(resolution,[],['1233','60']) ).
cnf('1247',plain,
m_state_v_tl(c_s,s1),
inference(resolution,[],['529','530']) ).
cnf('1248',plain,
~ node183(c_s,s1),
inference(resolution,[],['1247','1236']) ).
cnf('1249',plain,
( node184(c_s,s1,s2)
| node182(c_s,s1) ),
inference(resolution,[then_simplify],['1246','1235','1248']) ).
cnf('1250',plain,
~ node182(c_s,s1),
inference(resolution,[],['1244','1238']) ).
cnf('1251',plain,
node184(c_s,s1,s2),
inference(simplify,[],['1249','1250']) ).
cnf('1252',plain,
~ m_state_v_FBM(c_s,s2,c_on),
inference(resolution,[],['1245','1251']) ).
cnf('1253',plain,
~ node17(c_s,s2),
inference(resolution,[],['1252','511']) ).
cnf('1254',plain,
node20(c_s,s2,s3),
inference(resolution,[],['502','175']) ).
cnf('1255',plain,
( node19(c_s,s2,s3)
| node17(c_s,s2)
| node18(c_s,s2) ),
inference(resolution,[],['1254','504']) ).
cnf('1256',plain,
( m_state_v_FBM(X,Y,c_on)
| ~ node18(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_4]) ).
cnf('1257',plain,
~ node18(c_s,s2),
inference(resolution,[],['1252','1256']) ).
cnf('1258',plain,
node19(c_s,s2,s3),
inference(resolution,[then_simplify],['1253','1255','1257']) ).
cnf('1259',plain,
~ node17(c_s,s1),
inference(resolution,[],['1244','511']) ).
cnf('1260',plain,
node20(c_s,s1,s2),
inference(resolution,[],['502','60']) ).
cnf('1261',plain,
( node19(c_s,s1,s2)
| node17(c_s,s1)
| node18(c_s,s1) ),
inference(resolution,[],['1260','504']) ).
cnf('1262',plain,
~ node18(c_s,s1),
inference(resolution,[],['1244','1256']) ).
cnf('1263',plain,
node19(c_s,s1,s2),
inference(resolution,[then_simplify],['1259','1261','1262']) ).
cnf('1264',plain,
m_state_v_pfl(c_s,s1),
inference(resolution,[],['514','517']) ).
cnf('1265',plain,
m_state_v_pfl(c_s,s2),
inference(resolution,[then_simplify],['1263','515','1264']) ).
cnf('1266',plain,
m_state_v_pfl(c_s,s3),
inference(resolution,[then_simplify],['1258','515','1265']) ).
cnf('1267',plain,
~ node2(c_s,s3),
inference(resolution,[],['1266','519']) ).
cnf('1268',plain,
node4(c_s,s3,s4),
inference(resolution,[],['498','386']) ).
cnf('1269',plain,
( node3(c_s,s3,s4)
| node2(c_s,s3)
| node1(c_s,s3) ),
inference(resolution,[],['1268','500']) ).
cnf('1270',plain,
( node3(c_s,s3,s4)
| node1(c_s,s3) ),
inference(resolution,[],['1267','1269']) ).
cnf('1271',plain,
node3(c_s,s3,s4),
inference(resolution,[],['1229','1270']) ).
cnf('1272',plain,
~ node1(c_s,s2),
inference(resolution,[],['282','495']) ).
cnf('1273',plain,
m_state_v_pfl(c_s,s2),
inference(resolution,[then_simplify],['1263','515','1264']) ).
cnf('1274',plain,
~ node2(c_s,s2),
inference(resolution,[],['1273','519']) ).
cnf('1275',plain,
node4(c_s,s2,s3),
inference(resolution,[],['498','175']) ).
cnf('1276',plain,
( node3(c_s,s2,s3)
| node2(c_s,s2)
| node1(c_s,s2) ),
inference(resolution,[],['1275','500']) ).
cnf('1277',plain,
( node3(c_s,s2,s3)
| node1(c_s,s2) ),
inference(resolution,[],['1274','1276']) ).
cnf('1278',plain,
node3(c_s,s2,s3),
inference(resolution,[],['1272','1277']) ).
cnf('1279',plain,
m_state_v_tl(c_s,s3),
inference(resolution,[then_simplify],['1278','523','532']) ).
cnf('1280',plain,
m_state_v_tl(c_s,s4),
inference(resolution,[then_simplify],['1271','523','1279']) ).
cnf('1281',plain,
( ~ node172(X,Y)
| ~ m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_34]) ).
cnf('1282',plain,
~ node172(c_s,s4),
inference(resolution,[],['1280','1281']) ).
cnf('1283',plain,
m_state_v_tl(c_s,s3),
inference(resolution,[then_simplify],['1278','523','532']) ).
cnf('1284',plain,
~ node172(c_s,s3),
inference(resolution,[],['1283','1281']) ).
cnf('1285',plain,
( ~ m_state_v_TEM(X,Y,c_down)
| ~ m_state_v_TEM(X,Y,c_up) ),
inference(cnf_transformation,[],[m_state_36]) ).
cnf('1286',plain,
~ m_state_v_TEM(c_s,s1,c_down),
inference(resolution,[],['490','1285']) ).
cnf('1287',plain,
( m_state_v_TEM(X,Y,c_down)
| ~ node173(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_35]) ).
cnf('1288',plain,
~ node173(c_s,s1),
inference(resolution,[],['1286','1287']) ).
cnf('1289',plain,
( ~ node175(X,Y,Z)
| node174(X,Y,Z)
| node173(X,Y)
| node172(X,Y)
| node171(X,Y)
| node170(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_43]) ).
cnf('1290',plain,
( ~ node172(X,Y)
| m_state_v_topPos(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_30]) ).
cnf('1291',plain,
~ node172(c_s,s1),
inference(resolution,[],['276','1290']) ).
cnf('1292',plain,
( ~ node171(X,Y)
| m_state_v_topPos(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_29]) ).
cnf('1293',plain,
~ node171(c_s,s1),
inference(resolution,[],['276','1292']) ).
cnf('1294',plain,
~ m_state_v_TEM(c_s,s1,c_idle),
inference(resolution,[],['490','270']) ).
cnf('1295',plain,
( m_state_v_TEM(X,Y,c_idle)
| ~ node170(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_25]) ).
cnf('1296',plain,
~ node170(c_s,s1),
inference(resolution,[],['1294','1295']) ).
cnf('1297',plain,
( ~ node175(c_s,s1,X)
| node174(c_s,s1,X) ),
inference(resolution,[then_simplify],['1288','1289','1291','1293','1296']) ).
cnf('1298',plain,
node175(c_s,s1,s2),
inference(resolution,[],['484','60']) ).
cnf('1299',plain,
node174(c_s,s1,s2),
inference(resolution,[],['1297','1298']) ).
cnf('1300',plain,
( ~ node174(X,Y,Z)
| ~ m_state_v_TEM(X,Y,U)
| m_state_v_TEM(X,Z,U) ),
inference(cnf_transformation,[],[m_ERTable_37]) ).
cnf('1301',plain,
( ~ node174(c_s,s1,X)
| m_state_v_TEM(c_s,X,c_up) ),
inference(resolution,[],['490','1300']) ).
cnf('1302',plain,
m_state_v_TEM(c_s,s2,c_up),
inference(resolution,[],['1299','1301']) ).
cnf('1303',plain,
( ~ node175(X,Y,Z)
| ~ m_state_v_TEM(X,Y,c_up)
| m_state_v_TEM(X,Z,c_idle)
| ~ m_state_v_topPos(X,Y)
| node170(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_40]) ).
cnf('1304',plain,
( node24(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_23]) ).
cnf('1305',plain,
( node24(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['1304','56','57']) ).
cnf('1306',plain,
node24(c_s,s1,s2),
inference(resolution,[],['1305','60']) ).
cnf('1307',plain,
( ~ node24(X0,X1,X2)
| ~ m_state_v_TEM(X0,X1,c_up)
| m_state_v_TEM(X0,X1,c_down)
| ~ m_state_v_botPos(X0,X2) ),
inference(cnf_transformation,[],[m_Sensor_21]) ).
cnf('1308',plain,
( ~ m_state_v_TEM(X0,X1,c_down)
| ~ m_state_v_TEM(X0,X1,c_up) ),
inference(cnf_transformation,[],[m_state_36]) ).
cnf('1309',plain,
( ~ node24(X,Y,Z)
| ~ m_state_v_TEM(X,Y,c_up)
| ~ m_state_v_botPos(X,Z) ),
inference(simplify,[],['1307','1308']) ).
cnf('1310',plain,
( ~ m_state_v_TEM(c_s,s1,c_up)
| ~ m_state_v_botPos(c_s,s2) ),
inference(resolution,[],['1306','1309']) ).
cnf('1311',plain,
~ m_state_v_botPos(c_s,s2),
inference(resolution,[],['490','1310']) ).
cnf('1312',plain,
( ~ node170(X,Y)
| m_state_v_botPos(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_23]) ).
cnf('1313',plain,
~ node170(c_s,s2),
inference(resolution,[],['1311','1312']) ).
cnf('1314',plain,
( ~ node175(c_s,s2,X)
| m_state_v_TEM(c_s,X,c_idle) ),
inference(resolution,[then_simplify],['1302','1303','494','1313']) ).
cnf('1315',plain,
node175(c_s,s2,s3),
inference(resolution,[],['484','175']) ).
cnf('1316',plain,
m_state_v_TEM(c_s,s3,c_idle),
inference(resolution,[],['1314','1315']) ).
cnf('1317',plain,
~ m_state_v_TEM(c_s,s3,c_up),
inference(resolution,[],['1316','270']) ).
cnf('1318',plain,
( m_state_v_TEM(X,Y,c_up)
| ~ node171(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_28]) ).
cnf('1319',plain,
~ node171(c_s,s3),
inference(resolution,[],['1317','1318']) ).
cnf('1320',plain,
node24(c_s,s2,s3),
inference(resolution,[],['1305','175']) ).
cnf('1321',plain,
( ~ m_state_v_TEM(c_s,s2,c_up)
| ~ m_state_v_botPos(c_s,s3) ),
inference(resolution,[],['1320','1309']) ).
cnf('1322',plain,
~ m_state_v_botPos(c_s,s3),
inference(resolution,[],['1302','1321']) ).
cnf('1323',plain,
( ~ node173(X,Y)
| m_state_v_botPos(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_36]) ).
cnf('1324',plain,
~ node173(c_s,s3),
inference(resolution,[],['1322','1323']) ).
cnf('1325',plain,
~ node170(c_s,s3),
inference(resolution,[],['1322','1312']) ).
cnf('1326',plain,
( node172(c_s,s3)
| ~ node175(c_s,s3,X)
| node174(c_s,s3,X) ),
inference(resolution,[then_simplify],['1319','1289','1324','1325']) ).
cnf('1327',plain,
node175(c_s,s3,s4),
inference(resolution,[],['484','386']) ).
cnf('1328',plain,
( node174(c_s,s3,s4)
| node172(c_s,s3) ),
inference(resolution,[],['1326','1327']) ).
cnf('1329',plain,
node174(c_s,s3,s4),
inference(resolution,[],['1284','1328']) ).
cnf('1330',plain,
( ~ node174(X,Y,Z)
| ~ m_state_v_TEM(X,Z,U)
| m_state_v_TEM(X,Y,U) ),
inference(cnf_transformation,[],[m_ERTable_38]) ).
cnf('1331',plain,
( ~ node174(c_s,s3,X)
| ~ m_state_v_TEM(c_s,X,c_up) ),
inference(resolution,[],['1317','1330']) ).
cnf('1332',plain,
~ m_state_v_TEM(c_s,s4,c_up),
inference(resolution,[],['1329','1331']) ).
cnf('1333',plain,
~ node171(c_s,s4),
inference(resolution,[],['1332','1318']) ).
cnf('1334',plain,
node24(c_s,s3,s4),
inference(resolution,[],['1305','386']) ).
cnf('1335',plain,
( ~ node24(X,Y,Z)
| node23(X,Y,Z)
| m_state_v_TEM(X,Y,c_down)
| m_state_v_TEM(X,Y,c_up) ),
inference(cnf_transformation,[],[m_Sensor_22]) ).
cnf('1336',plain,
( m_state_v_TEM(c_s,s3,c_up)
| node23(c_s,s3,s4)
| m_state_v_TEM(c_s,s3,c_down) ),
inference(resolution,[],['1334','1335']) ).
cnf('1337',plain,
~ m_state_v_TEM(c_s,s3,c_down),
inference(resolution,[],['1316','267']) ).
cnf('1338',plain,
node23(c_s,s3,s4),
inference(resolution,[then_simplify],['1317','1336','1337']) ).
cnf('1339',plain,
( ~ node23(X,Y,Z)
| ~ m_state_v_botPos(X,Z)
| m_state_v_botPos(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_19]) ).
cnf('1340',plain,
~ m_state_v_botPos(c_s,s3),
inference(resolution,[],['1302','1321']) ).
cnf('1341',plain,
~ m_state_v_botPos(c_s,s4),
inference(resolution,[then_simplify],['1338','1339','1340']) ).
cnf('1342',plain,
~ node173(c_s,s4),
inference(resolution,[],['1341','1323']) ).
cnf('1343',plain,
~ node170(c_s,s4),
inference(resolution,[],['1341','1312']) ).
cnf('1344',plain,
( node171(c_s,s4)
| node172(c_s,s4)
| ~ node175(c_s,s4,X)
| node174(c_s,s4,X) ),
inference(resolution,[then_simplify],['1342','1289','1343']) ).
cnf('1345',plain,
node175(c_s,s4,s5),
inference(resolution,[],['484','601']) ).
cnf('1346',plain,
( node174(c_s,s4,s5)
| node171(c_s,s4)
| node172(c_s,s4) ),
inference(resolution,[],['1344','1345']) ).
cnf('1347',plain,
( node174(c_s,s4,s5)
| node172(c_s,s4) ),
inference(resolution,[],['1333','1346']) ).
cnf('1348',plain,
node174(c_s,s4,s5),
inference(resolution,[],['1282','1347']) ).
cnf('1349',plain,
( ~ node174(c_s,s4,X)
| ~ m_state_v_TEM(c_s,X,c_up) ),
inference(resolution,[],['1332','1330']) ).
cnf('1350',plain,
~ m_state_v_TEM(c_s,s5,c_up),
inference(resolution,[],['1348','1349']) ).
cnf('1351',plain,
node24(c_s,s5,s6),
inference(resolution,[],['1305','704']) ).
cnf('1352',plain,
( m_state_v_TEM(c_s,s5,c_up)
| node23(c_s,s5,s6)
| m_state_v_TEM(c_s,s5,c_down) ),
inference(resolution,[],['1351','1335']) ).
cnf('1353',plain,
~ m_state_v_TEM(c_s,s3,c_down),
inference(resolution,[],['1316','267']) ).
cnf('1354',plain,
( ~ node174(c_s,s3,X)
| ~ m_state_v_TEM(c_s,X,c_down) ),
inference(resolution,[],['1353','1330']) ).
cnf('1355',plain,
~ m_state_v_TEM(c_s,s4,c_down),
inference(resolution,[],['1329','1354']) ).
cnf('1356',plain,
( ~ node174(c_s,s4,X)
| ~ m_state_v_TEM(c_s,X,c_down) ),
inference(resolution,[],['1355','1330']) ).
cnf('1357',plain,
~ m_state_v_TEM(c_s,s5,c_down),
inference(resolution,[],['1348','1356']) ).
cnf('1358',plain,
node23(c_s,s5,s6),
inference(resolution,[then_simplify],['1350','1352','1357']) ).
cnf('1359',plain,
node24(c_s,s4,s5),
inference(resolution,[],['1305','601']) ).
cnf('1360',plain,
( m_state_v_TEM(c_s,s4,c_up)
| node23(c_s,s4,s5)
| m_state_v_TEM(c_s,s4,c_down) ),
inference(resolution,[],['1359','1335']) ).
cnf('1361',plain,
~ m_state_v_TEM(c_s,s4,c_up),
inference(resolution,[],['1329','1331']) ).
cnf('1362',plain,
node23(c_s,s4,s5),
inference(resolution,[then_simplify],['1355','1360','1361']) ).
cnf('1363',plain,
~ m_state_v_botPos(c_s,s4),
inference(resolution,[then_simplify],['1338','1339','1340']) ).
cnf('1364',plain,
~ m_state_v_botPos(c_s,s5),
inference(resolution,[then_simplify],['1362','1339','1363']) ).
cnf('1365',plain,
~ m_state_v_botPos(c_s,s6),
inference(resolution,[then_simplify],['1358','1339','1364']) ).
cnf('1366',plain,
( ~ node183(X,Y)
| m_state_v_botPos(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_34]) ).
cnf('1367',plain,
~ node183(c_s,s6),
inference(resolution,[],['1365','1366']) ).
cnf('1368',plain,
~ m_state_v_botPos(c_s,s5),
inference(resolution,[then_simplify],['1362','1339','1363']) ).
cnf('1369',plain,
~ node183(c_s,s5),
inference(resolution,[],['1368','1366']) ).
cnf('1370',plain,
node185(c_s,s5,s6),
inference(resolution,[],['1233','704']) ).
cnf('1371',plain,
( node184(c_s,s5,s6)
| node182(c_s,s5)
| node183(c_s,s5) ),
inference(resolution,[],['1370','1235']) ).
cnf('1372',plain,
( ~ node184(c_s,s2,X)
| ~ m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['1252','1242']) ).
cnf('1373',plain,
~ node182(c_s,s2),
inference(resolution,[],['1252','1238']) ).
cnf('1374',plain,
node185(c_s,s2,s3),
inference(resolution,[],['1233','175']) ).
cnf('1375',plain,
~ node183(c_s,s2),
inference(resolution,[],['1311','1366']) ).
cnf('1376',plain,
( node184(c_s,s2,s3)
| node182(c_s,s2) ),
inference(resolution,[then_simplify],['1374','1235','1375']) ).
cnf('1377',plain,
node184(c_s,s2,s3),
inference(resolution,[],['1373','1376']) ).
cnf('1378',plain,
~ m_state_v_FBM(c_s,s3,c_on),
inference(resolution,[],['1372','1377']) ).
cnf('1379',plain,
( ~ node184(c_s,s3,X)
| ~ m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['1378','1242']) ).
cnf('1380',plain,
~ node182(c_s,s3),
inference(resolution,[],['1378','1238']) ).
cnf('1381',plain,
node185(c_s,s3,s4),
inference(resolution,[],['1233','386']) ).
cnf('1382',plain,
~ node183(c_s,s3),
inference(resolution,[],['1322','1366']) ).
cnf('1383',plain,
( node184(c_s,s3,s4)
| node182(c_s,s3) ),
inference(resolution,[then_simplify],['1381','1235','1382']) ).
cnf('1384',plain,
node184(c_s,s3,s4),
inference(resolution,[],['1380','1383']) ).
cnf('1385',plain,
~ m_state_v_FBM(c_s,s4,c_on),
inference(resolution,[],['1379','1384']) ).
cnf('1386',plain,
( ~ node184(c_s,s4,X)
| ~ m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['1385','1242']) ).
cnf('1387',plain,
~ node182(c_s,s4),
inference(resolution,[],['1385','1238']) ).
cnf('1388',plain,
node185(c_s,s4,s5),
inference(resolution,[],['1233','601']) ).
cnf('1389',plain,
~ node183(c_s,s4),
inference(resolution,[],['1341','1366']) ).
cnf('1390',plain,
( node184(c_s,s4,s5)
| node182(c_s,s4) ),
inference(resolution,[then_simplify],['1388','1235','1389']) ).
cnf('1391',plain,
node184(c_s,s4,s5),
inference(resolution,[],['1387','1390']) ).
cnf('1392',plain,
~ m_state_v_FBM(c_s,s5,c_on),
inference(resolution,[],['1386','1391']) ).
cnf('1393',plain,
~ node182(c_s,s5),
inference(resolution,[],['1392','1238']) ).
cnf('1394',plain,
( node184(c_s,s5,s6)
| node183(c_s,s5) ),
inference(simplify,[],['1371','1393']) ).
cnf('1395',plain,
node184(c_s,s5,s6),
inference(resolution,[],['1369','1394']) ).
cnf('1396',plain,
( ~ node184(c_s,s5,X)
| ~ m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['1392','1242']) ).
cnf('1397',plain,
~ m_state_v_FBM(c_s,s6,c_on),
inference(resolution,[],['1395','1396']) ).
cnf('1398',plain,
~ node182(c_s,s6),
inference(resolution,[],['1397','1238']) ).
cnf('1399',plain,
node185(c_s,s6,s7),
inference(resolution,[],['1233','949']) ).
cnf('1400',plain,
( node184(c_s,s6,s7)
| node182(c_s,s6)
| node183(c_s,s6) ),
inference(resolution,[],['1399','1235']) ).
cnf('1401',plain,
( node184(c_s,s6,s7)
| node183(c_s,s6) ),
inference(resolution,[],['1398','1400']) ).
cnf('1402',plain,
node184(c_s,s6,s7),
inference(resolution,[],['1367','1401']) ).
cnf('1403',plain,
( ~ node184(c_s,s6,X)
| ~ m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['1397','1242']) ).
cnf('1404',plain,
~ m_state_v_FBM(c_s,s7,c_on),
inference(resolution,[],['1402','1403']) ).
cnf('1405',plain,
( ~ node184(c_s,s7,X)
| ~ m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['1404','1242']) ).
cnf('1406',plain,
( ~ node174(c_s,s3,X)
| m_state_v_TEM(c_s,X,c_idle) ),
inference(resolution,[],['1316','1300']) ).
cnf('1407',plain,
m_state_v_TEM(c_s,s4,c_idle),
inference(resolution,[],['1329','1406']) ).
cnf('1408',plain,
( ~ node174(c_s,s4,X)
| m_state_v_TEM(c_s,X,c_idle) ),
inference(resolution,[],['1407','1300']) ).
cnf('1409',plain,
m_state_v_TEM(c_s,s5,c_idle),
inference(resolution,[],['1348','1408']) ).
cnf('1410',plain,
( ~ node174(c_s,s5,X)
| m_state_v_TEM(c_s,X,c_idle) ),
inference(resolution,[],['1409','1300']) ).
cnf('1411',plain,
( m_state_v_a1ext(X,Y,c_retracted)
| ~ node1(X,Y) ),
inference(cnf_transformation,[],[m_Communication_3]) ).
cnf('1412',plain,
~ node1(c_s,s4),
inference(resolution,[],['617','1411']) ).
cnf('1413',plain,
~ node17(c_s,s3),
inference(resolution,[],['1378','511']) ).
cnf('1414',plain,
node20(c_s,s3,s4),
inference(resolution,[],['502','386']) ).
cnf('1415',plain,
( node19(c_s,s3,s4)
| node17(c_s,s3)
| node18(c_s,s3) ),
inference(resolution,[],['1414','504']) ).
cnf('1416',plain,
~ node18(c_s,s3),
inference(resolution,[],['1378','1256']) ).
cnf('1417',plain,
node19(c_s,s3,s4),
inference(resolution,[then_simplify],['1413','1415','1416']) ).
cnf('1418',plain,
m_state_v_pfl(c_s,s3),
inference(resolution,[then_simplify],['1258','515','1265']) ).
cnf('1419',plain,
m_state_v_pfl(c_s,s4),
inference(resolution,[then_simplify],['1417','515','1418']) ).
cnf('1420',plain,
~ node2(c_s,s4),
inference(resolution,[],['1419','519']) ).
cnf('1421',plain,
node4(c_s,s4,s5),
inference(resolution,[],['498','601']) ).
cnf('1422',plain,
( node3(c_s,s4,s5)
| node2(c_s,s4)
| node1(c_s,s4) ),
inference(resolution,[],['1421','500']) ).
cnf('1423',plain,
( node3(c_s,s4,s5)
| node1(c_s,s4) ),
inference(resolution,[],['1420','1422']) ).
cnf('1424',plain,
node3(c_s,s4,s5),
inference(resolution,[],['1412','1423']) ).
cnf('1425',plain,
m_state_v_tl(c_s,s4),
inference(resolution,[then_simplify],['1271','523','1279']) ).
cnf('1426',plain,
m_state_v_tl(c_s,s5),
inference(resolution,[then_simplify],['1424','523','1425']) ).
cnf('1427',plain,
~ node172(c_s,s5),
inference(resolution,[],['1426','1281']) ).
cnf('1428',plain,
~ node171(c_s,s5),
inference(resolution,[],['1350','1318']) ).
cnf('1429',plain,
~ node173(c_s,s5),
inference(resolution,[],['1368','1323']) ).
cnf('1430',plain,
node175(c_s,s5,s6),
inference(resolution,[],['484','704']) ).
cnf('1431',plain,
( node174(c_s,s5,s6)
| node170(c_s,s5)
| node171(c_s,s5)
| node172(c_s,s5)
| node173(c_s,s5) ),
inference(resolution,[],['1430','1289']) ).
cnf('1432',plain,
~ node170(c_s,s5),
inference(resolution,[],['1368','1312']) ).
cnf('1433',plain,
( node174(c_s,s5,s6)
| node171(c_s,s5)
| node172(c_s,s5) ),
inference(resolution,[then_simplify],['1429','1431','1432']) ).
cnf('1434',plain,
( node174(c_s,s5,s6)
| node172(c_s,s5) ),
inference(resolution,[],['1428','1433']) ).
cnf('1435',plain,
node174(c_s,s5,s6),
inference(resolution,[],['1427','1434']) ).
cnf('1436',plain,
m_state_v_TEM(c_s,s6,c_idle),
inference(resolution,[],['1410','1435']) ).
cnf('1437',plain,
~ m_state_v_TEM(c_s,s6,c_up),
inference(resolution,[],['1436','270']) ).
cnf('1438',plain,
node24(c_s,s6,s7),
inference(resolution,[],['1305','949']) ).
cnf('1439',plain,
( m_state_v_TEM(c_s,s6,c_up)
| node23(c_s,s6,s7)
| m_state_v_TEM(c_s,s6,c_down) ),
inference(resolution,[],['1438','1335']) ).
cnf('1440',plain,
~ m_state_v_TEM(c_s,s6,c_down),
inference(resolution,[],['1436','267']) ).
cnf('1441',plain,
node23(c_s,s6,s7),
inference(resolution,[then_simplify],['1437','1439','1440']) ).
cnf('1442',plain,
~ m_state_v_botPos(c_s,s6),
inference(resolution,[then_simplify],['1358','1339','1364']) ).
cnf('1443',plain,
~ m_state_v_botPos(c_s,s7),
inference(resolution,[then_simplify],['1441','1339','1442']) ).
cnf('1444',plain,
~ node183(c_s,s7),
inference(resolution,[],['1443','1366']) ).
cnf('1445',plain,
~ node182(c_s,s7),
inference(resolution,[],['1404','1238']) ).
cnf('1446',plain,
node185(c_s,s7,s8),
inference(resolution,[],['1233','1099']) ).
cnf('1447',plain,
( node184(c_s,s7,s8)
| node182(c_s,s7)
| node183(c_s,s7) ),
inference(resolution,[],['1446','1235']) ).
cnf('1448',plain,
( node184(c_s,s7,s8)
| node183(c_s,s7) ),
inference(resolution,[],['1445','1447']) ).
cnf('1449',plain,
node184(c_s,s7,s8),
inference(resolution,[],['1444','1448']) ).
cnf('1450',plain,
~ m_state_v_FBM(c_s,s8,c_on),
inference(resolution,[],['1405','1449']) ).
cnf('1451',plain,
( ~ node184(c_s,s8,X)
| ~ m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['1450','1242']) ).
cnf('1452',plain,
( ~ node174(c_s,s6,X)
| m_state_v_TEM(c_s,X,c_idle) ),
inference(resolution,[],['1436','1300']) ).
cnf('1453',plain,
~ node1(c_s,s5),
inference(resolution,[],['907','495']) ).
cnf('1454',plain,
~ node17(c_s,s4),
inference(resolution,[],['1385','511']) ).
cnf('1455',plain,
node20(c_s,s4,s5),
inference(resolution,[],['502','601']) ).
cnf('1456',plain,
( node19(c_s,s4,s5)
| node17(c_s,s4)
| node18(c_s,s4) ),
inference(resolution,[],['1455','504']) ).
cnf('1457',plain,
~ node18(c_s,s4),
inference(resolution,[],['1385','1256']) ).
cnf('1458',plain,
node19(c_s,s4,s5),
inference(resolution,[then_simplify],['1454','1456','1457']) ).
cnf('1459',plain,
m_state_v_pfl(c_s,s4),
inference(resolution,[then_simplify],['1417','515','1418']) ).
cnf('1460',plain,
m_state_v_pfl(c_s,s5),
inference(resolution,[then_simplify],['1458','515','1459']) ).
cnf('1461',plain,
~ node2(c_s,s5),
inference(resolution,[],['1460','519']) ).
cnf('1462',plain,
node4(c_s,s5,s6),
inference(resolution,[],['498','704']) ).
cnf('1463',plain,
( node3(c_s,s5,s6)
| node2(c_s,s5)
| node1(c_s,s5) ),
inference(resolution,[],['1462','500']) ).
cnf('1464',plain,
( node3(c_s,s5,s6)
| node1(c_s,s5) ),
inference(resolution,[],['1461','1463']) ).
cnf('1465',plain,
node3(c_s,s5,s6),
inference(resolution,[],['1453','1464']) ).
cnf('1466',plain,
m_state_v_tl(c_s,s5),
inference(resolution,[then_simplify],['1424','523','1425']) ).
cnf('1467',plain,
m_state_v_tl(c_s,s6),
inference(resolution,[then_simplify],['1465','523','1466']) ).
cnf('1468',plain,
~ node172(c_s,s6),
inference(resolution,[],['1467','1281']) ).
cnf('1469',plain,
~ node171(c_s,s6),
inference(resolution,[],['1437','1318']) ).
cnf('1470',plain,
node175(c_s,s6,s7),
inference(resolution,[],['484','949']) ).
cnf('1471',plain,
( node174(c_s,s6,s7)
| node170(c_s,s6)
| node171(c_s,s6)
| node172(c_s,s6)
| node173(c_s,s6) ),
inference(resolution,[],['1470','1289']) ).
cnf('1472',plain,
~ node170(c_s,s6),
inference(resolution,[],['1365','1312']) ).
cnf('1473',plain,
~ node173(c_s,s6),
inference(resolution,[],['1365','1323']) ).
cnf('1474',plain,
( node174(c_s,s6,s7)
| node172(c_s,s6) ),
inference(resolution,[then_simplify],['1469','1471','1472','1473']) ).
cnf('1475',plain,
node174(c_s,s6,s7),
inference(resolution,[],['1468','1474']) ).
cnf('1476',plain,
m_state_v_TEM(c_s,s7,c_idle),
inference(resolution,[],['1452','1475']) ).
cnf('1477',plain,
~ m_state_v_TEM(c_s,s7,c_up),
inference(resolution,[],['1476','270']) ).
cnf('1478',plain,
node24(c_s,s7,s8),
inference(resolution,[],['1305','1099']) ).
cnf('1479',plain,
( m_state_v_TEM(c_s,s7,c_up)
| node23(c_s,s7,s8)
| m_state_v_TEM(c_s,s7,c_down) ),
inference(resolution,[],['1478','1335']) ).
cnf('1480',plain,
~ m_state_v_TEM(c_s,s7,c_down),
inference(resolution,[],['1476','267']) ).
cnf('1481',plain,
node23(c_s,s7,s8),
inference(resolution,[then_simplify],['1477','1479','1480']) ).
cnf('1482',plain,
~ m_state_v_botPos(c_s,s7),
inference(resolution,[then_simplify],['1441','1339','1442']) ).
cnf('1483',plain,
~ m_state_v_botPos(c_s,s8),
inference(resolution,[then_simplify],['1481','1339','1482']) ).
cnf('1484',plain,
~ node183(c_s,s8),
inference(resolution,[],['1483','1366']) ).
cnf('1485',plain,
~ node182(c_s,s8),
inference(resolution,[],['1450','1238']) ).
cnf('1486',plain,
node185(c_s,s8,s9),
inference(resolution,[],['1233','1110']) ).
cnf('1487',plain,
( node184(c_s,s8,s9)
| node182(c_s,s8)
| node183(c_s,s8) ),
inference(resolution,[],['1486','1235']) ).
cnf('1488',plain,
( node184(c_s,s8,s9)
| node183(c_s,s8) ),
inference(resolution,[],['1485','1487']) ).
cnf('1489',plain,
node184(c_s,s8,s9),
inference(resolution,[],['1484','1488']) ).
cnf('1490',plain,
~ m_state_v_FBM(c_s,s9,c_on),
inference(resolution,[],['1451','1489']) ).
cnf('1491',plain,
~ node17(c_s,s9),
inference(resolution,[],['1490','511']) ).
cnf('1492',plain,
( ~ node177(X,Y)
| m_state_v_botPos(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_9]) ).
cnf('1493',plain,
~ node177(c_s,s8),
inference(resolution,[],['1483','1492']) ).
cnf('1494',plain,
( m_state_v_FBM(X,Y,c_on)
| ~ node176(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_1]) ).
cnf('1495',plain,
~ node176(c_s,s8),
inference(resolution,[],['1450','1494']) ).
cnf('1496',plain,
( node180(X,Y,Z)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ m_FeedBelt_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_FeedBelt_24]) ).
cnf('1497',plain,
( node180(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['1496','1231','1232']) ).
cnf('1498',plain,
node180(c_s,s8,s9),
inference(resolution,[],['1497','1110']) ).
cnf('1499',plain,
( ~ node180(X,Y,Z)
| node179(X,Y,Z)
| node178(X,Y)
| node177(X,Y)
| node176(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_23]) ).
cnf('1500',plain,
( node179(c_s,s8,s9)
| node176(c_s,s8)
| node177(c_s,s8)
| node178(c_s,s8) ),
inference(resolution,[],['1498','1499']) ).
cnf('1501',plain,
~ node17(c_s,s7),
inference(resolution,[],['1404','511']) ).
cnf('1502',plain,
node20(c_s,s7,s8),
inference(resolution,[],['502','1099']) ).
cnf('1503',plain,
( node19(c_s,s7,s8)
| node17(c_s,s7)
| node18(c_s,s7) ),
inference(resolution,[],['1502','504']) ).
cnf('1504',plain,
~ node177(c_s,s6),
inference(resolution,[],['1365','1492']) ).
cnf('1505',plain,
~ node176(c_s,s6),
inference(resolution,[],['1397','1494']) ).
cnf('1506',plain,
node180(c_s,s6,s7),
inference(resolution,[],['1497','949']) ).
cnf('1507',plain,
~ node17(c_s,s5),
inference(resolution,[],['1392','511']) ).
cnf('1508',plain,
node20(c_s,s5,s6),
inference(resolution,[],['502','704']) ).
cnf('1509',plain,
( node19(c_s,s5,s6)
| node17(c_s,s5)
| node18(c_s,s5) ),
inference(resolution,[],['1508','504']) ).
cnf('1510',plain,
~ node18(c_s,s5),
inference(resolution,[],['1392','1256']) ).
cnf('1511',plain,
node19(c_s,s5,s6),
inference(resolution,[then_simplify],['1507','1509','1510']) ).
cnf('1512',plain,
m_state_v_pfl(c_s,s5),
inference(resolution,[then_simplify],['1458','515','1459']) ).
cnf('1513',plain,
m_state_v_pfl(c_s,s6),
inference(resolution,[then_simplify],['1511','515','1512']) ).
cnf('1514',plain,
( ~ node178(X,Y)
| ~ m_state_v_pfl(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_17]) ).
cnf('1515',plain,
~ node178(c_s,s6),
inference(resolution,[],['1513','1514']) ).
cnf('1516',plain,
( node179(c_s,s6,s7)
| node176(c_s,s6)
| node177(c_s,s6) ),
inference(resolution,[then_simplify],['1506','1499','1515']) ).
cnf('1517',plain,
( node179(c_s,s6,s7)
| node177(c_s,s6) ),
inference(resolution,[],['1505','1516']) ).
cnf('1518',plain,
node179(c_s,s6,s7),
inference(resolution,[],['1504','1517']) ).
cnf('1519',plain,
( ~ node179(X,Y,Z)
| ~ m_state_v_deliv(X,Z)
| m_state_v_deliv(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_19]) ).
cnf('1520',plain,
~ node177(c_s,s5),
inference(resolution,[],['1368','1492']) ).
cnf('1521',plain,
node180(c_s,s5,s6),
inference(resolution,[],['1497','704']) ).
cnf('1522',plain,
~ node178(c_s,s5),
inference(resolution,[],['1460','1514']) ).
cnf('1523',plain,
~ node176(c_s,s5),
inference(resolution,[],['1392','1494']) ).
cnf('1524',plain,
( node179(c_s,s5,s6)
| node177(c_s,s5) ),
inference(resolution,[then_simplify],['1521','1499','1522','1523']) ).
cnf('1525',plain,
node179(c_s,s5,s6),
inference(resolution,[],['1520','1524']) ).
cnf('1526',plain,
node180(c_s,s2,s3),
inference(resolution,[],['1497','175']) ).
cnf('1527',plain,
~ node178(c_s,s2),
inference(resolution,[],['1273','1514']) ).
cnf('1528',plain,
~ node177(c_s,s2),
inference(resolution,[],['1311','1492']) ).
cnf('1529',plain,
( ~ node176(X,Y)
| m_state_v_botPos(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_4]) ).
cnf('1530',plain,
~ node176(c_s,s2),
inference(resolution,[],['1311','1529']) ).
cnf('1531',plain,
node179(c_s,s2,s3),
inference(resolution,[then_simplify],['1526','1499','1527','1528','1530']) ).
cnf('1532',plain,
( ~ m_state_v_deliv(c_s,s3)
| m_state_v_deliv(c_s,s2) ),
inference(resolution,[],['1531','1519']) ).
cnf('1533',plain,
node180(c_s,s1,s2),
inference(resolution,[],['1497','60']) ).
cnf('1534',plain,
~ node178(c_s,s1),
inference(resolution,[],['518','1514']) ).
cnf('1535',plain,
( ~ node177(X,Y)
| ~ m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_13]) ).
cnf('1536',plain,
~ node177(c_s,s1),
inference(resolution,[],['1247','1535']) ).
cnf('1537',plain,
( ~ node176(X,Y)
| ~ m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_8]) ).
cnf('1538',plain,
~ node176(c_s,s1),
inference(resolution,[],['1247','1537']) ).
cnf('1539',plain,
node179(c_s,s1,s2),
inference(resolution,[then_simplify],['1533','1499','1534','1536','1538']) ).
cnf('1540',plain,
node180(c_s,s0,s1),
inference(resolution,[],['1497','7']) ).
cnf('1541',plain,
( ~ node178(X,Y)
| m_state_v_deliv(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_16]) ).
cnf('1542',plain,
~ node178(X,s0),
inference(resolution,[],['1541','506']) ).
cnf('1543',plain,
~ node177(X3,s0),
inference(resolution,[],['1535','474']) ).
cnf('1544',plain,
~ node176(X3,s0),
inference(resolution,[],['1537','474']) ).
cnf('1545',plain,
( ~ node180(X,s0,Y)
| node179(X,s0,Y) ),
inference(resolution,[then_simplify],['1499','1542','1543','1544']) ).
cnf('1546',plain,
node179(c_s,s0,s1),
inference(resolution,[],['1540','1545']) ).
cnf('1547',plain,
( ~ node179(X,s0,Y)
| ~ m_state_v_deliv(X,Y) ),
inference(resolution,[],['1519','506']) ).
cnf('1548',plain,
~ m_state_v_deliv(c_s,s1),
inference(resolution,[],['1546','1547']) ).
cnf('1549',plain,
~ m_state_v_deliv(c_s,s2),
inference(resolution,[then_simplify],['1539','1519','1548']) ).
cnf('1550',plain,
~ m_state_v_deliv(c_s,s3),
inference(simplify,[],['1532','1549']) ).
cnf('1551',plain,
node180(c_s,s3,s4),
inference(resolution,[],['1497','386']) ).
cnf('1552',plain,
~ node178(c_s,s3),
inference(resolution,[],['1266','1514']) ).
cnf('1553',plain,
~ node177(c_s,s3),
inference(resolution,[],['1322','1492']) ).
cnf('1554',plain,
~ node176(c_s,s3),
inference(resolution,[],['1322','1529']) ).
cnf('1555',plain,
node179(c_s,s3,s4),
inference(resolution,[then_simplify],['1551','1499','1552','1553','1554']) ).
cnf('1556',plain,
( ~ m_state_v_deliv(c_s,s4)
| m_state_v_deliv(c_s,s3) ),
inference(resolution,[],['1555','1519']) ).
cnf('1557',plain,
~ m_state_v_deliv(c_s,s4),
inference(resolution,[],['1550','1556']) ).
cnf('1558',plain,
node180(c_s,s4,s5),
inference(resolution,[],['1497','601']) ).
cnf('1559',plain,
~ node178(c_s,s4),
inference(resolution,[],['1419','1514']) ).
cnf('1560',plain,
~ node177(c_s,s4),
inference(resolution,[],['1341','1492']) ).
cnf('1561',plain,
~ node176(c_s,s4),
inference(resolution,[],['1341','1529']) ).
cnf('1562',plain,
node179(c_s,s4,s5),
inference(resolution,[then_simplify],['1558','1499','1559','1560','1561']) ).
cnf('1563',plain,
( ~ m_state_v_deliv(c_s,s5)
| m_state_v_deliv(c_s,s4) ),
inference(resolution,[],['1562','1519']) ).
cnf('1564',plain,
~ m_state_v_deliv(c_s,s5),
inference(resolution,[],['1557','1563']) ).
cnf('1565',plain,
~ m_state_v_deliv(c_s,s6),
inference(resolution,[then_simplify],['1525','1519','1564']) ).
cnf('1566',plain,
~ m_state_v_deliv(c_s,s7),
inference(resolution,[then_simplify],['1518','1519','1565']) ).
cnf('1567',plain,
~ node18(c_s,s7),
inference(resolution,[],['1566','505']) ).
cnf('1568',plain,
node19(c_s,s7,s8),
inference(resolution,[then_simplify],['1501','1503','1567']) ).
cnf('1569',plain,
~ node17(c_s,s6),
inference(resolution,[],['1397','511']) ).
cnf('1570',plain,
node20(c_s,s6,s7),
inference(resolution,[],['502','949']) ).
cnf('1571',plain,
( node19(c_s,s6,s7)
| node17(c_s,s6)
| node18(c_s,s6) ),
inference(resolution,[],['1570','504']) ).
cnf('1572',plain,
~ m_state_v_deliv(c_s,s6),
inference(resolution,[then_simplify],['1525','1519','1564']) ).
cnf('1573',plain,
~ node18(c_s,s6),
inference(resolution,[],['1572','505']) ).
cnf('1574',plain,
node19(c_s,s6,s7),
inference(resolution,[then_simplify],['1569','1571','1573']) ).
cnf('1575',plain,
m_state_v_pfl(c_s,s6),
inference(resolution,[then_simplify],['1511','515','1512']) ).
cnf('1576',plain,
m_state_v_pfl(c_s,s7),
inference(resolution,[then_simplify],['1574','515','1575']) ).
cnf('1577',plain,
m_state_v_pfl(c_s,s8),
inference(resolution,[then_simplify],['1568','515','1576']) ).
cnf('1578',plain,
~ node178(c_s,s8),
inference(resolution,[],['1577','1514']) ).
cnf('1579',plain,
( node179(c_s,s8,s9)
| node177(c_s,s8) ),
inference(resolution,[then_simplify],['1495','1500','1578']) ).
cnf('1580',plain,
node179(c_s,s8,s9),
inference(resolution,[],['1493','1579']) ).
cnf('1581',plain,
~ node177(c_s,s7),
inference(resolution,[],['1443','1492']) ).
cnf('1582',plain,
~ node176(c_s,s7),
inference(resolution,[],['1404','1494']) ).
cnf('1583',plain,
m_state_v_pfl(c_s,s7),
inference(resolution,[then_simplify],['1574','515','1575']) ).
cnf('1584',plain,
~ node178(c_s,s7),
inference(resolution,[],['1583','1514']) ).
cnf('1585',plain,
node180(c_s,s7,s8),
inference(resolution,[],['1497','1099']) ).
cnf('1586',plain,
( node179(c_s,s7,s8)
| node176(c_s,s7)
| node177(c_s,s7)
| node178(c_s,s7) ),
inference(resolution,[],['1585','1499']) ).
cnf('1587',plain,
( node179(c_s,s7,s8)
| node176(c_s,s7)
| node177(c_s,s7) ),
inference(resolution,[],['1584','1586']) ).
cnf('1588',plain,
( node179(c_s,s7,s8)
| node177(c_s,s7) ),
inference(resolution,[],['1582','1587']) ).
cnf('1589',plain,
node179(c_s,s7,s8),
inference(resolution,[],['1581','1588']) ).
cnf('1590',plain,
~ m_state_v_deliv(c_s,s7),
inference(resolution,[then_simplify],['1518','1519','1565']) ).
cnf('1591',plain,
~ m_state_v_deliv(c_s,s8),
inference(resolution,[then_simplify],['1589','1519','1590']) ).
cnf('1592',plain,
~ m_state_v_deliv(c_s,s9),
inference(resolution,[then_simplify],['1580','1519','1591']) ).
cnf('1593',plain,
~ node18(c_s,s9),
inference(resolution,[],['1592','505']) ).
cnf('1594',plain,
node20(c_s,s9,s10),
inference(resolution,[],['502','1214']) ).
cnf('1595',plain,
( node19(c_s,s9,s10)
| node17(c_s,s9)
| node18(c_s,s9) ),
inference(resolution,[],['1594','504']) ).
cnf('1596',plain,
( node19(c_s,s9,s10)
| node17(c_s,s9) ),
inference(resolution,[],['1593','1595']) ).
cnf('1597',plain,
node19(c_s,s9,s10),
inference(resolution,[],['1491','1596']) ).
cnf('1598',plain,
~ node17(c_s,s8),
inference(resolution,[],['1450','511']) ).
cnf('1599',plain,
~ m_state_v_deliv(c_s,s8),
inference(resolution,[then_simplify],['1589','1519','1590']) ).
cnf('1600',plain,
~ node18(c_s,s8),
inference(resolution,[],['1599','505']) ).
cnf('1601',plain,
node20(c_s,s8,s9),
inference(resolution,[],['502','1110']) ).
cnf('1602',plain,
( node19(c_s,s8,s9)
| node17(c_s,s8)
| node18(c_s,s8) ),
inference(resolution,[],['1601','504']) ).
cnf('1603',plain,
( node19(c_s,s8,s9)
| node17(c_s,s8) ),
inference(resolution,[],['1600','1602']) ).
cnf('1604',plain,
node19(c_s,s8,s9),
inference(resolution,[],['1598','1603']) ).
cnf('1605',plain,
m_state_v_pfl(c_s,s8),
inference(resolution,[then_simplify],['1568','515','1576']) ).
cnf('1606',plain,
m_state_v_pfl(c_s,s9),
inference(resolution,[then_simplify],['1604','515','1605']) ).
cnf('1607',plain,
m_state_v_pfl(c_s,s10),
inference(resolution,[then_simplify],['1597','515','1606']) ).
cnf('1608',plain,
~ node2(c_s,s10),
inference(resolution,[],['1607','519']) ).
cnf('1609',plain,
succ(s10,s11),
inference(cnf_transformation,[],[bound11]) ).
cnf('1610',plain,
trans(s10,s11),
inference(resolution,[],['5','1609']) ).
cnf('1611',plain,
node4(c_s,s10,s11),
inference(resolution,[],['498','1610']) ).
cnf('1612',plain,
( node3(c_s,s10,s11)
| node2(c_s,s10)
| node1(c_s,s10) ),
inference(resolution,[],['1611','500']) ).
cnf('1613',plain,
( node3(c_s,s10,s11)
| node1(c_s,s10) ),
inference(resolution,[],['1608','1612']) ).
cnf('1614',plain,
node3(c_s,s10,s11),
inference(resolution,[],['1228','1613']) ).
cnf('1615',plain,
( ~ node3(X,Y,Z)
| ~ m_state_v_tl(X,Z)
| m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_Communication_8]) ).
cnf('1616',plain,
~ node1(c_s,s9),
inference(resolution,[],['1217','1227']) ).
cnf('1617',plain,
m_state_v_pfl(c_s,s9),
inference(resolution,[then_simplify],['1604','515','1605']) ).
cnf('1618',plain,
~ node2(c_s,s9),
inference(resolution,[],['1617','519']) ).
cnf('1619',plain,
node4(c_s,s9,s10),
inference(resolution,[],['498','1214']) ).
cnf('1620',plain,
( node3(c_s,s9,s10)
| node2(c_s,s9)
| node1(c_s,s9) ),
inference(resolution,[],['1619','500']) ).
cnf('1621',plain,
( node3(c_s,s9,s10)
| node1(c_s,s9) ),
inference(resolution,[],['1618','1620']) ).
cnf('1622',plain,
node3(c_s,s9,s10),
inference(resolution,[],['1616','1621']) ).
cnf('1623',plain,
node131(c_s,s7,s8),
inference(resolution,[],['137','1099']) ).
cnf('1624',plain,
( ~ node131(X,Y,Z)
| ~ m_state_v_a1ext(X,Y,c_retracted)
| ~ m_state_v_A1M(X,Y,c_retract)
| ~ m_state_v_angle(X,Y,c_arm1totable)
| m_state_v_A1M(X,Z,c_idle)
| node127(X,Y)
| node126(X,Y)
| node125(X,Y)
| node124(X,Y)
| node123(X,Y)
| node122(X,Y) ),
inference(cnf_transformation,[],[m_Robot_51]) ).
cnf('1625',plain,
( ~ m_state_v_a1ext(c_s,s7,c_retracted)
| ~ m_state_v_angle(c_s,s7,c_arm1totable)
| ~ m_state_v_A1M(c_s,s7,c_retract)
| m_state_v_A1M(c_s,s8,c_idle)
| node122(c_s,s7)
| node123(c_s,s7)
| node124(c_s,s7)
| node125(c_s,s7)
| node126(c_s,s7)
| node127(c_s,s7) ),
inference(resolution,[],['1623','1624']) ).
cnf('1626',plain,
m_state_v_A1M(c_s,s7,c_retract),
inference(resolution,[],['1123','1177']) ).
cnf('1627',plain,
~ m_state_v_A1M(c_s,s7,c_idle),
inference(resolution,[],['1626','41']) ).
cnf('1628',plain,
~ node122(c_s,s7),
inference(resolution,[],['1627','718']) ).
cnf('1629',plain,
( ~ node120(c_s,s5,X)
| ~ m_state_v_PM(c_s,X,c_up) ),
inference(resolution,[],['1159','747']) ).
cnf('1630',plain,
( m_state_v_a1ext(X,Y,c_retracted)
| ~ node161(X,Y) ),
inference(cnf_transformation,[],[m_Robot_192]) ).
cnf('1631',plain,
~ node161(c_s,s4),
inference(resolution,[],['617','1630']) ).
cnf('1632',plain,
~ node160(c_s,s4),
inference(resolution,[],['682','789']) ).
cnf('1633',plain,
node163(c_s,s4,s5),
inference(resolution,[],['784','601']) ).
cnf('1634',plain,
( node162(c_s,s4,s5)
| node160(c_s,s4)
| node161(c_s,s4) ),
inference(resolution,[],['1633','786']) ).
cnf('1635',plain,
( node162(c_s,s4,s5)
| node161(c_s,s4) ),
inference(resolution,[],['1632','1634']) ).
cnf('1636',plain,
node162(c_s,s4,s5),
inference(resolution,[],['1631','1635']) ).
cnf('1637',plain,
m_state_v_pl(c_s,s4),
inference(resolution,[then_simplify],['1134','793','1135']) ).
cnf('1638',plain,
m_state_v_pl(c_s,s5),
inference(resolution,[then_simplify],['1636','793','1637']) ).
cnf('1639',plain,
~ node114(c_s,s5),
inference(resolution,[],['1638','743']) ).
cnf('1640',plain,
( ~ node120(c_s,s4,X)
| ~ m_state_v_PM(c_s,X,c_down) ),
inference(resolution,[],['1139','747']) ).
cnf('1641',plain,
~ m_state_v_PM(c_s,s5,c_down),
inference(resolution,[],['1157','1640']) ).
cnf('1642',plain,
~ node119(c_s,s5),
inference(resolution,[],['1641','732']) ).
cnf('1643',plain,
~ node115(c_s,s5),
inference(resolution,[],['1025','781']) ).
cnf('1644',plain,
~ node50(c_s,s4),
inference(resolution,[],['901','770']) ).
cnf('1645',plain,
~ node49(c_s,s4),
inference(resolution,[],['1149','772']) ).
cnf('1646',plain,
node52(c_s,s4,s5),
inference(resolution,[],['767','601']) ).
cnf('1647',plain,
( node51(c_s,s4,s5)
| node49(c_s,s4)
| node50(c_s,s4) ),
inference(resolution,[],['1646','769']) ).
cnf('1648',plain,
( node51(c_s,s4,s5)
| node50(c_s,s4) ),
inference(resolution,[],['1645','1647']) ).
cnf('1649',plain,
node51(c_s,s4,s5),
inference(resolution,[],['1644','1648']) ).
cnf('1650',plain,
~ m_state_v_topPosP(c_s,s4),
inference(resolution,[then_simplify],['1147','776','1148']) ).
cnf('1651',plain,
~ m_state_v_topPosP(c_s,s5),
inference(resolution,[then_simplify],['1649','776','1650']) ).
cnf('1652',plain,
~ node118(c_s,s5),
inference(resolution,[],['1651','734']) ).
cnf('1653',plain,
~ node117(c_s,s5),
inference(resolution,[],['1651','737']) ).
cnf('1654',plain,
( node114(c_s,s5)
| node115(c_s,s5)
| node116(c_s,s5)
| node119(c_s,s5)
| ~ node121(c_s,s5,X)
| node120(c_s,s5,X) ),
inference(resolution,[then_simplify],['1652','729','1653']) ).
cnf('1655',plain,
node121(c_s,s5,s6),
inference(resolution,[],['727','704']) ).
cnf('1656',plain,
( node120(c_s,s5,s6)
| node114(c_s,s5)
| node115(c_s,s5)
| node116(c_s,s5)
| node119(c_s,s5) ),
inference(resolution,[],['1654','1655']) ).
cnf('1657',plain,
~ node116(c_s,s5),
inference(resolution,[],['1025','739']) ).
cnf('1658',plain,
( node120(c_s,s5,s6)
| node114(c_s,s5)
| node119(c_s,s5) ),
inference(resolution,[then_simplify],['1643','1656','1657']) ).
cnf('1659',plain,
( node120(c_s,s5,s6)
| node114(c_s,s5) ),
inference(resolution,[],['1642','1658']) ).
cnf('1660',plain,
node120(c_s,s5,s6),
inference(resolution,[],['1639','1659']) ).
cnf('1661',plain,
~ m_state_v_PM(c_s,s6,c_up),
inference(resolution,[],['1629','1660']) ).
cnf('1662',plain,
~ node53(c_s,s6),
inference(resolution,[],['1661','254']) ).
cnf('1663',plain,
~ node54(c_s,s6),
inference(resolution,[],['1167','248']) ).
cnf('1664',plain,
node56(c_s,s6,s7),
inference(resolution,[],['245','949']) ).
cnf('1665',plain,
( node55(c_s,s6,s7)
| node53(c_s,s6)
| node54(c_s,s6) ),
inference(resolution,[],['1664','247']) ).
cnf('1666',plain,
( node55(c_s,s6,s7)
| node53(c_s,s6) ),
inference(resolution,[],['1663','1665']) ).
cnf('1667',plain,
node55(c_s,s6,s7),
inference(resolution,[],['1662','1666']) ).
cnf('1668',plain,
~ m_state_v_midPosP(c_s,s6),
inference(resolution,[then_simplify],['1165','258','1166']) ).
cnf('1669',plain,
~ m_state_v_midPosP(c_s,s7),
inference(resolution,[then_simplify],['1667','258','1668']) ).
cnf('1670',plain,
~ node123(c_s,s7),
inference(resolution,[],['1669','261']) ).
cnf('1671',plain,
m_state_v_a1ext(c_s,s7,c_retracted),
inference(resolution,[then_simplify],['1116','1119','1120','1121']) ).
cnf('1672',plain,
~ m_state_v_a1ext(c_s,s7,c_ot),
inference(resolution,[],['1671','212']) ).
cnf('1673',plain,
~ node124(c_s,s7),
inference(resolution,[],['1672','242']) ).
cnf('1674',plain,
~ m_state_v_a1ext(c_s,s7,c_a1ip),
inference(resolution,[],['1671','205']) ).
cnf('1675',plain,
~ node125(c_s,s7),
inference(resolution,[],['1674','240']) ).
cnf('1676',plain,
~ node126(c_s,s7),
inference(resolution,[],['1672','238']) ).
cnf('1677',plain,
~ node127(c_s,s7),
inference(resolution,[],['1674','236']) ).
cnf('1678',plain,
m_state_v_A1M(c_s,s8,c_idle),
inference(resolution,[then_simplify],['958','1625','1122','1178','1628','1670','1673','1675','1676','1677']) ).
cnf('1679',plain,
~ m_state_v_A1M(c_s,s8,c_retract),
inference(resolution,[],['1678','41']) ).
cnf('1680',plain,
~ node1(c_s,s8),
inference(resolution,[],['1679','495']) ).
cnf('1681',plain,
~ node2(c_s,s8),
inference(resolution,[],['1577','519']) ).
cnf('1682',plain,
node4(c_s,s8,s9),
inference(resolution,[],['498','1110']) ).
cnf('1683',plain,
( node3(c_s,s8,s9)
| node2(c_s,s8)
| node1(c_s,s8) ),
inference(resolution,[],['1682','500']) ).
cnf('1684',plain,
( node3(c_s,s8,s9)
| node1(c_s,s8) ),
inference(resolution,[],['1681','1683']) ).
cnf('1685',plain,
node3(c_s,s8,s9),
inference(resolution,[],['1680','1684']) ).
cnf('1686',plain,
node4(c_s,s7,s8),
inference(resolution,[],['498','1099']) ).
cnf('1687',plain,
( ~ node4(X,Y,Z)
| ~ m_state_v_a1ext(X,Y,c_retracted)
| ~ m_state_v_A1M(X,Y,c_retract)
| ~ m_state_v_angle(X,Y,c_arm1totable)
| ~ m_state_v_tl(X,Z) ),
inference(cnf_transformation,[],[m_Communication_9]) ).
cnf('1688',plain,
( ~ m_state_v_a1ext(c_s,s7,c_retracted)
| ~ m_state_v_angle(c_s,s7,c_arm1totable)
| ~ m_state_v_A1M(c_s,s7,c_retract)
| ~ m_state_v_tl(c_s,s8) ),
inference(resolution,[],['1686','1687']) ).
cnf('1689',plain,
( ~ m_state_v_angle(c_s,s7,c_arm1totable)
| ~ m_state_v_tl(c_s,s8) ),
inference(resolution,[then_simplify],['1626','1688','1122']) ).
cnf('1690',plain,
~ m_state_v_tl(c_s,s8),
inference(resolution,[],['958','1689']) ).
cnf('1691',plain,
~ m_state_v_tl(c_s,s9),
inference(resolution,[then_simplify],['1685','1615','1690']) ).
cnf('1692',plain,
~ m_state_v_tl(c_s,s10),
inference(resolution,[then_simplify],['1622','1615','1691']) ).
cnf('1693',plain,
~ m_state_v_tl(c_s,s11),
inference(resolution,[then_simplify],['1614','1615','1692']) ).
cnf('1694',plain,
~ m_state_v_tl(c_s,s8),
inference(resolution,[],['958','1689']) ).
cnf('1695',plain,
( ~ node166(X,Y)
| ~ m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_12]) ).
cnf('1696',plain,
~ node166(c_s,s4),
inference(resolution,[],['1280','1695']) ).
cnf('1697',plain,
~ node166(c_s,s3),
inference(resolution,[],['1283','1695']) ).
cnf('1698',plain,
( ~ node168(X,Y,Z)
| ~ m_state_v_TRM(X,Y,U)
| m_state_v_TRM(X,Z,U) ),
inference(cnf_transformation,[],[m_ERTable_15]) ).
cnf('1699',plain,
( ~ node168(c_s,s1,X)
| m_state_v_TRM(c_s,X,c_clockwise) ),
inference(resolution,[],['476','1698']) ).
cnf('1700',plain,
node169(c_s,s1,s2),
inference(resolution,[],['458','60']) ).
cnf('1701',plain,
( ~ node169(X,Y,Z)
| node168(X,Y,Z)
| node167(X,Y)
| node166(X,Y)
| node165(X,Y)
| node164(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_21]) ).
cnf('1702',plain,
( ~ node166(X,Y)
| m_state_v_topPos(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_8]) ).
cnf('1703',plain,
~ node166(c_s,s1),
inference(resolution,[],['276','1702']) ).
cnf('1704',plain,
node28(c_s,s0,s1),
inference(resolution,[],['478','7']) ).
cnf('1705',plain,
( ~ node28(X,Y,Z)
| node27(X,Y,Z)
| m_state_v_TRM(X,Y,c_clockwise)
| m_state_v_TRM(X,Y,c_counterclockwise) ),
inference(cnf_transformation,[],[m_Sensor_34]) ).
cnf('1706',plain,
( ~ node28(X,s0,Y)
| node27(X,s0,Y) ),
inference(resolution,[then_simplify],['1705','465','467']) ).
cnf('1707',plain,
node27(c_s,s0,s1),
inference(resolution,[],['1704','1706']) ).
cnf('1708',plain,
( ~ node27(X,Y,Z)
| ~ m_state_v_maxRot(X,Z)
| m_state_v_maxRot(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_31]) ).
cnf('1709',plain,
~ m_state_v_maxRot(X,s0),
inference(cnf_transformation,[],[m_state_85]) ).
cnf('1710',plain,
( ~ node27(X,s0,Y)
| ~ m_state_v_maxRot(X,Y) ),
inference(resolution,[],['1708','1709']) ).
cnf('1711',plain,
~ m_state_v_maxRot(c_s,s1),
inference(resolution,[],['1707','1710']) ).
cnf('1712',plain,
( ~ node165(X,Y)
| m_state_v_maxRot(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_7]) ).
cnf('1713',plain,
~ node165(c_s,s1),
inference(resolution,[],['1711','1712']) ).
cnf('1714',plain,
( m_state_v_TEM(X,Y,c_idle)
| ~ node164(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_3]) ).
cnf('1715',plain,
~ node164(c_s,s1),
inference(resolution,[],['1294','1714']) ).
cnf('1716',plain,
( node168(c_s,s1,s2)
| node167(c_s,s1) ),
inference(resolution,[then_simplify],['1700','1701','1703','1713','1715']) ).
cnf('1717',plain,
( ~ m_state_v_TRM(X,Y,c_clockwise)
| ~ m_state_v_TRM(X,Y,c_counterclockwise) ),
inference(cnf_transformation,[],[m_state_40]) ).
cnf('1718',plain,
~ m_state_v_TRM(c_s,s1,c_counterclockwise),
inference(resolution,[],['476','1717']) ).
cnf('1719',plain,
( m_state_v_TRM(X,Y,c_counterclockwise)
| ~ node167(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_13]) ).
cnf('1720',plain,
~ node167(c_s,s1),
inference(resolution,[],['1718','1719']) ).
cnf('1721',plain,
node168(c_s,s1,s2),
inference(simplify,[],['1716','1720']) ).
cnf('1722',plain,
m_state_v_TRM(c_s,s2,c_clockwise),
inference(resolution,[],['1699','1721']) ).
cnf('1723',plain,
( ~ node169(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_clockwise)
| m_state_v_TRM(X,Z,c_idle)
| ~ m_state_v_maxRot(X,Y)
| node164(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_18]) ).
cnf('1724',plain,
( ~ node164(X,Y)
| m_state_v_botPos(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_1]) ).
cnf('1725',plain,
~ node164(c_s,s2),
inference(resolution,[],['1311','1724']) ).
cnf('1726',plain,
( ~ node169(c_s,s2,X)
| m_state_v_TRM(c_s,X,c_idle) ),
inference(resolution,[then_simplify],['1722','1723','482','1725']) ).
cnf('1727',plain,
node169(c_s,s2,s3),
inference(resolution,[],['458','175']) ).
cnf('1728',plain,
m_state_v_TRM(c_s,s3,c_idle),
inference(resolution,[],['1726','1727']) ).
cnf('1729',plain,
~ m_state_v_TRM(c_s,s3,c_clockwise),
inference(resolution,[],['1728','463']) ).
cnf('1730',plain,
( m_state_v_TRM(X,Y,c_clockwise)
| ~ node165(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_6]) ).
cnf('1731',plain,
~ node165(c_s,s3),
inference(resolution,[],['1729','1730']) ).
cnf('1732',plain,
( node26(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_29]) ).
cnf('1733',plain,
( node26(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['1732','56','57']) ).
cnf('1734',plain,
node26(c_s,s2,s3),
inference(resolution,[],['1733','175']) ).
cnf('1735',plain,
( ~ node26(X0,X1,X2)
| ~ m_state_v_TRM(X0,X1,c_clockwise)
| m_state_v_TRM(X0,X1,c_counterclockwise)
| ~ m_state_v_minRot(X0,X2) ),
inference(cnf_transformation,[],[m_Sensor_27]) ).
cnf('1736',plain,
( ~ m_state_v_TRM(X0,X1,c_clockwise)
| ~ m_state_v_TRM(X0,X1,c_counterclockwise) ),
inference(cnf_transformation,[],[m_state_40]) ).
cnf('1737',plain,
( ~ node26(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_clockwise)
| ~ m_state_v_minRot(X,Z) ),
inference(simplify,[],['1735','1736']) ).
cnf('1738',plain,
( ~ m_state_v_TRM(c_s,s2,c_clockwise)
| ~ m_state_v_minRot(c_s,s3) ),
inference(resolution,[],['1734','1737']) ).
cnf('1739',plain,
~ m_state_v_minRot(c_s,s3),
inference(resolution,[],['1722','1738']) ).
cnf('1740',plain,
( ~ node167(X,Y)
| m_state_v_minRot(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_14]) ).
cnf('1741',plain,
~ node167(c_s,s3),
inference(resolution,[],['1739','1740']) ).
cnf('1742',plain,
~ node164(c_s,s3),
inference(resolution,[],['1322','1724']) ).
cnf('1743',plain,
( node166(c_s,s3)
| ~ node169(c_s,s3,X)
| node168(c_s,s3,X) ),
inference(resolution,[then_simplify],['1731','1701','1741','1742']) ).
cnf('1744',plain,
node169(c_s,s3,s4),
inference(resolution,[],['458','386']) ).
cnf('1745',plain,
( node168(c_s,s3,s4)
| node166(c_s,s3) ),
inference(resolution,[],['1743','1744']) ).
cnf('1746',plain,
node168(c_s,s3,s4),
inference(resolution,[],['1697','1745']) ).
cnf('1747',plain,
( ~ node168(X,Y,Z)
| ~ m_state_v_TRM(X,Z,U)
| m_state_v_TRM(X,Y,U) ),
inference(cnf_transformation,[],[m_ERTable_16]) ).
cnf('1748',plain,
( ~ node168(c_s,s3,X)
| ~ m_state_v_TRM(c_s,X,c_clockwise) ),
inference(resolution,[],['1729','1747']) ).
cnf('1749',plain,
~ m_state_v_TRM(c_s,s4,c_clockwise),
inference(resolution,[],['1746','1748']) ).
cnf('1750',plain,
~ node165(c_s,s4),
inference(resolution,[],['1749','1730']) ).
cnf('1751',plain,
node169(c_s,s4,s5),
inference(resolution,[],['458','601']) ).
cnf('1752',plain,
~ node164(c_s,s4),
inference(resolution,[],['1341','1724']) ).
cnf('1753',plain,
( node168(c_s,s4,s5)
| node165(c_s,s4)
| node166(c_s,s4)
| node167(c_s,s4) ),
inference(resolution,[then_simplify],['1751','1701','1752']) ).
cnf('1754',plain,
~ m_state_v_TRM(c_s,s3,c_counterclockwise),
inference(resolution,[],['1728','466']) ).
cnf('1755',plain,
node26(c_s,s3,s4),
inference(resolution,[],['1733','386']) ).
cnf('1756',plain,
( ~ node26(X,Y,Z)
| m_state_v_TRM(X,Y,c_clockwise)
| m_state_v_TRM(X,Y,c_counterclockwise)
| node25(X,Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_28]) ).
cnf('1757',plain,
( m_state_v_TRM(c_s,s3,c_counterclockwise)
| m_state_v_TRM(c_s,s3,c_clockwise)
| node25(c_s,s3,s4) ),
inference(resolution,[],['1755','1756']) ).
cnf('1758',plain,
~ m_state_v_TRM(c_s,s3,c_clockwise),
inference(resolution,[],['1728','463']) ).
cnf('1759',plain,
node25(c_s,s3,s4),
inference(resolution,[then_simplify],['1754','1757','1758']) ).
cnf('1760',plain,
( ~ node25(X,Y,Z)
| ~ m_state_v_minRot(X,Z)
| m_state_v_minRot(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_25]) ).
cnf('1761',plain,
~ m_state_v_minRot(c_s,s3),
inference(resolution,[],['1722','1738']) ).
cnf('1762',plain,
~ m_state_v_minRot(c_s,s4),
inference(resolution,[then_simplify],['1759','1760','1761']) ).
cnf('1763',plain,
~ node167(c_s,s4),
inference(resolution,[],['1762','1740']) ).
cnf('1764',plain,
( node168(c_s,s4,s5)
| node165(c_s,s4)
| node166(c_s,s4) ),
inference(simplify,[],['1753','1763']) ).
cnf('1765',plain,
( node168(c_s,s4,s5)
| node166(c_s,s4) ),
inference(resolution,[],['1750','1764']) ).
cnf('1766',plain,
node168(c_s,s4,s5),
inference(resolution,[],['1696','1765']) ).
cnf('1767',plain,
( ~ node168(c_s,s3,X)
| m_state_v_TRM(c_s,X,c_idle) ),
inference(resolution,[],['1728','1698']) ).
cnf('1768',plain,
m_state_v_TRM(c_s,s4,c_idle),
inference(resolution,[],['1746','1767']) ).
cnf('1769',plain,
( ~ node168(c_s,s4,X)
| m_state_v_TRM(c_s,X,c_idle) ),
inference(resolution,[],['1768','1698']) ).
cnf('1770',plain,
m_state_v_TRM(c_s,s5,c_idle),
inference(resolution,[],['1766','1769']) ).
cnf('1771',plain,
( ~ node168(c_s,s5,X)
| m_state_v_TRM(c_s,X,c_idle) ),
inference(resolution,[],['1770','1698']) ).
cnf('1772',plain,
~ node166(c_s,s5),
inference(resolution,[],['1426','1695']) ).
cnf('1773',plain,
( ~ node168(c_s,s4,X)
| ~ m_state_v_TRM(c_s,X,c_clockwise) ),
inference(resolution,[],['1749','1747']) ).
cnf('1774',plain,
~ m_state_v_TRM(c_s,s5,c_clockwise),
inference(resolution,[],['1766','1773']) ).
cnf('1775',plain,
~ node165(c_s,s5),
inference(resolution,[],['1774','1730']) ).
cnf('1776',plain,
node26(c_s,s4,s5),
inference(resolution,[],['1733','601']) ).
cnf('1777',plain,
( m_state_v_TRM(c_s,s4,c_counterclockwise)
| m_state_v_TRM(c_s,s4,c_clockwise)
| node25(c_s,s4,s5) ),
inference(resolution,[],['1776','1756']) ).
cnf('1778',plain,
( ~ node168(c_s,s3,X)
| ~ m_state_v_TRM(c_s,X,c_counterclockwise) ),
inference(resolution,[],['1754','1747']) ).
cnf('1779',plain,
~ m_state_v_TRM(c_s,s4,c_counterclockwise),
inference(resolution,[],['1746','1778']) ).
cnf('1780',plain,
node25(c_s,s4,s5),
inference(resolution,[then_simplify],['1749','1777','1779']) ).
cnf('1781',plain,
~ m_state_v_minRot(c_s,s4),
inference(resolution,[then_simplify],['1759','1760','1761']) ).
cnf('1782',plain,
~ m_state_v_minRot(c_s,s5),
inference(resolution,[then_simplify],['1780','1760','1781']) ).
cnf('1783',plain,
~ node167(c_s,s5),
inference(resolution,[],['1782','1740']) ).
cnf('1784',plain,
node169(c_s,s5,s6),
inference(resolution,[],['458','704']) ).
cnf('1785',plain,
( node168(c_s,s5,s6)
| node164(c_s,s5)
| node165(c_s,s5)
| node166(c_s,s5)
| node167(c_s,s5) ),
inference(resolution,[],['1784','1701']) ).
cnf('1786',plain,
~ node164(c_s,s5),
inference(resolution,[],['1368','1724']) ).
cnf('1787',plain,
( node168(c_s,s5,s6)
| node165(c_s,s5)
| node166(c_s,s5) ),
inference(resolution,[then_simplify],['1783','1785','1786']) ).
cnf('1788',plain,
( node168(c_s,s5,s6)
| node166(c_s,s5) ),
inference(resolution,[],['1775','1787']) ).
cnf('1789',plain,
node168(c_s,s5,s6),
inference(resolution,[],['1772','1788']) ).
cnf('1790',plain,
m_state_v_TRM(c_s,s6,c_idle),
inference(resolution,[],['1771','1789']) ).
cnf('1791',plain,
( ~ node168(c_s,s6,X)
| m_state_v_TRM(c_s,X,c_idle) ),
inference(resolution,[],['1790','1698']) ).
cnf('1792',plain,
~ node166(c_s,s6),
inference(resolution,[],['1467','1695']) ).
cnf('1793',plain,
~ m_state_v_TRM(c_s,s6,c_clockwise),
inference(resolution,[],['1790','463']) ).
cnf('1794',plain,
~ node165(c_s,s6),
inference(resolution,[],['1793','1730']) ).
cnf('1795',plain,
node169(c_s,s6,s7),
inference(resolution,[],['458','949']) ).
cnf('1796',plain,
( node168(c_s,s6,s7)
| node164(c_s,s6)
| node165(c_s,s6)
| node166(c_s,s6)
| node167(c_s,s6) ),
inference(resolution,[],['1795','1701']) ).
cnf('1797',plain,
~ node164(c_s,s6),
inference(resolution,[],['1365','1724']) ).
cnf('1798',plain,
~ m_state_v_TRM(c_s,s4,c_counterclockwise),
inference(resolution,[],['1746','1778']) ).
cnf('1799',plain,
( ~ node168(c_s,s4,X)
| ~ m_state_v_TRM(c_s,X,c_counterclockwise) ),
inference(resolution,[],['1798','1747']) ).
cnf('1800',plain,
~ m_state_v_TRM(c_s,s5,c_counterclockwise),
inference(resolution,[],['1766','1799']) ).
cnf('1801',plain,
node26(c_s,s5,s6),
inference(resolution,[],['1733','704']) ).
cnf('1802',plain,
( m_state_v_TRM(c_s,s5,c_counterclockwise)
| m_state_v_TRM(c_s,s5,c_clockwise)
| node25(c_s,s5,s6) ),
inference(resolution,[],['1801','1756']) ).
cnf('1803',plain,
~ m_state_v_TRM(c_s,s5,c_clockwise),
inference(resolution,[],['1766','1773']) ).
cnf('1804',plain,
node25(c_s,s5,s6),
inference(resolution,[then_simplify],['1800','1802','1803']) ).
cnf('1805',plain,
~ m_state_v_minRot(c_s,s5),
inference(resolution,[then_simplify],['1780','1760','1781']) ).
cnf('1806',plain,
~ m_state_v_minRot(c_s,s6),
inference(resolution,[then_simplify],['1804','1760','1805']) ).
cnf('1807',plain,
~ node167(c_s,s6),
inference(resolution,[],['1806','1740']) ).
cnf('1808',plain,
( node168(c_s,s6,s7)
| node166(c_s,s6) ),
inference(resolution,[then_simplify],['1794','1796','1797','1807']) ).
cnf('1809',plain,
node168(c_s,s6,s7),
inference(resolution,[],['1792','1808']) ).
cnf('1810',plain,
m_state_v_TRM(c_s,s7,c_idle),
inference(resolution,[],['1791','1809']) ).
cnf('1811',plain,
( ~ node168(c_s,s7,X)
| m_state_v_TRM(c_s,X,c_idle) ),
inference(resolution,[],['1810','1698']) ).
cnf('1812',plain,
~ node1(c_s,s6),
inference(resolution,[],['969','1411']) ).
cnf('1813',plain,
~ node2(c_s,s6),
inference(resolution,[],['1513','519']) ).
cnf('1814',plain,
node4(c_s,s6,s7),
inference(resolution,[],['498','949']) ).
cnf('1815',plain,
( node3(c_s,s6,s7)
| node2(c_s,s6)
| node1(c_s,s6) ),
inference(resolution,[],['1814','500']) ).
cnf('1816',plain,
( node3(c_s,s6,s7)
| node1(c_s,s6) ),
inference(resolution,[],['1813','1815']) ).
cnf('1817',plain,
node3(c_s,s6,s7),
inference(resolution,[],['1812','1816']) ).
cnf('1818',plain,
m_state_v_tl(c_s,s6),
inference(resolution,[then_simplify],['1465','523','1466']) ).
cnf('1819',plain,
m_state_v_tl(c_s,s7),
inference(resolution,[then_simplify],['1817','523','1818']) ).
cnf('1820',plain,
~ node166(c_s,s7),
inference(resolution,[],['1819','1695']) ).
cnf('1821',plain,
~ m_state_v_TRM(c_s,s7,c_clockwise),
inference(resolution,[],['1810','463']) ).
cnf('1822',plain,
~ node165(c_s,s7),
inference(resolution,[],['1821','1730']) ).
cnf('1823',plain,
node169(c_s,s7,s8),
inference(resolution,[],['458','1099']) ).
cnf('1824',plain,
( node168(c_s,s7,s8)
| node164(c_s,s7)
| node165(c_s,s7)
| node166(c_s,s7)
| node167(c_s,s7) ),
inference(resolution,[],['1823','1701']) ).
cnf('1825',plain,
~ node164(c_s,s7),
inference(resolution,[],['1443','1724']) ).
cnf('1826',plain,
~ m_state_v_TRM(c_s,s6,c_counterclockwise),
inference(resolution,[],['1790','466']) ).
cnf('1827',plain,
node26(c_s,s6,s7),
inference(resolution,[],['1733','949']) ).
cnf('1828',plain,
( m_state_v_TRM(c_s,s6,c_counterclockwise)
| node25(c_s,s6,s7)
| m_state_v_TRM(c_s,s6,c_clockwise) ),
inference(resolution,[],['1827','1756']) ).
cnf('1829',plain,
~ m_state_v_TRM(c_s,s6,c_clockwise),
inference(resolution,[],['1790','463']) ).
cnf('1830',plain,
node25(c_s,s6,s7),
inference(resolution,[then_simplify],['1826','1828','1829']) ).
cnf('1831',plain,
~ m_state_v_minRot(c_s,s6),
inference(resolution,[then_simplify],['1804','1760','1805']) ).
cnf('1832',plain,
~ m_state_v_minRot(c_s,s7),
inference(resolution,[then_simplify],['1830','1760','1831']) ).
cnf('1833',plain,
~ node167(c_s,s7),
inference(resolution,[],['1832','1740']) ).
cnf('1834',plain,
( node168(c_s,s7,s8)
| node166(c_s,s7) ),
inference(resolution,[then_simplify],['1822','1824','1825','1833']) ).
cnf('1835',plain,
node168(c_s,s7,s8),
inference(resolution,[],['1820','1834']) ).
cnf('1836',plain,
m_state_v_TRM(c_s,s8,c_idle),
inference(resolution,[],['1811','1835']) ).
cnf('1837',plain,
node175(c_s,s8,s9),
inference(resolution,[],['484','1110']) ).
cnf('1838',plain,
( ~ node175(X0,X1,X2)
| ~ m_state_v_TRM(X0,X1,c_idle)
| ~ m_state_v_TEM(X0,X1,c_idle)
| m_state_v_TEM(X0,X2,c_down)
| ~ m_state_v_maxRot(X0,X1)
| ~ m_state_v_topPos(X0,X1)
| node171(X0,X1)
| node170(X0,X1)
| m_state_v_tl(X0,X1) ),
inference(cnf_transformation,[],[m_ERTable_41]) ).
cnf('1839',plain,
( ~ node170(X0,X1)
| m_state_v_tl(X0,X1) ),
inference(cnf_transformation,[],[m_ERTable_27]) ).
cnf('1840',plain,
( ~ node175(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_idle)
| ~ m_state_v_TEM(X,Y,c_idle)
| m_state_v_TEM(X,Z,c_down)
| ~ m_state_v_maxRot(X,Y)
| ~ m_state_v_topPos(X,Y)
| node171(X,Y)
| m_state_v_tl(X,Y) ),
inference(simplify,[],['1838','1839']) ).
cnf('1841',plain,
( ~ m_state_v_TRM(c_s,s8,c_idle)
| ~ m_state_v_TEM(c_s,s8,c_idle)
| ~ m_state_v_maxRot(c_s,s8)
| ~ m_state_v_topPos(c_s,s8)
| m_state_v_TEM(c_s,s9,c_down)
| m_state_v_tl(c_s,s8)
| node171(c_s,s8) ),
inference(resolution,[],['1837','1840']) ).
cnf('1842',plain,
( ~ node174(c_s,s7,X)
| m_state_v_TEM(c_s,X,c_idle) ),
inference(resolution,[],['1476','1300']) ).
cnf('1843',plain,
~ node172(c_s,s7),
inference(resolution,[],['1819','1281']) ).
cnf('1844',plain,
~ node171(c_s,s7),
inference(resolution,[],['1477','1318']) ).
cnf('1845',plain,
node175(c_s,s7,s8),
inference(resolution,[],['484','1099']) ).
cnf('1846',plain,
( node174(c_s,s7,s8)
| node170(c_s,s7)
| node171(c_s,s7)
| node172(c_s,s7)
| node173(c_s,s7) ),
inference(resolution,[],['1845','1289']) ).
cnf('1847',plain,
~ node170(c_s,s7),
inference(resolution,[],['1443','1312']) ).
cnf('1848',plain,
~ node173(c_s,s7),
inference(resolution,[],['1443','1323']) ).
cnf('1849',plain,
( node174(c_s,s7,s8)
| node172(c_s,s7) ),
inference(resolution,[then_simplify],['1844','1846','1847','1848']) ).
cnf('1850',plain,
node174(c_s,s7,s8),
inference(resolution,[],['1843','1849']) ).
cnf('1851',plain,
m_state_v_TEM(c_s,s8,c_idle),
inference(resolution,[],['1842','1850']) ).
cnf('1852',plain,
~ m_state_v_TRM(c_s,s7,c_counterclockwise),
inference(resolution,[],['1810','466']) ).
cnf('1853',plain,
node28(c_s,s7,s8),
inference(resolution,[],['478','1099']) ).
cnf('1854',plain,
( m_state_v_TRM(c_s,s7,c_counterclockwise)
| node27(c_s,s7,s8)
| m_state_v_TRM(c_s,s7,c_clockwise) ),
inference(resolution,[],['1853','1705']) ).
cnf('1855',plain,
~ m_state_v_TRM(c_s,s7,c_clockwise),
inference(resolution,[],['1810','463']) ).
cnf('1856',plain,
node27(c_s,s7,s8),
inference(resolution,[then_simplify],['1852','1854','1855']) ).
cnf('1857',plain,
( ~ node27(X,Y,Z)
| ~ m_state_v_maxRot(X,Y)
| m_state_v_maxRot(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_30]) ).
cnf('1858',plain,
node28(c_s,s6,s7),
inference(resolution,[],['478','949']) ).
cnf('1859',plain,
( m_state_v_TRM(c_s,s6,c_counterclockwise)
| m_state_v_TRM(c_s,s6,c_clockwise)
| node27(c_s,s6,s7) ),
inference(resolution,[],['1858','1705']) ).
cnf('1860',plain,
node27(c_s,s6,s7),
inference(resolution,[then_simplify],['1826','1859','1829']) ).
cnf('1861',plain,
node28(c_s,s5,s6),
inference(resolution,[],['478','704']) ).
cnf('1862',plain,
( m_state_v_TRM(c_s,s5,c_counterclockwise)
| m_state_v_TRM(c_s,s5,c_clockwise)
| node27(c_s,s5,s6) ),
inference(resolution,[],['1861','1705']) ).
cnf('1863',plain,
node27(c_s,s5,s6),
inference(resolution,[then_simplify],['1800','1862','1803']) ).
cnf('1864',plain,
node28(c_s,s4,s5),
inference(resolution,[],['478','601']) ).
cnf('1865',plain,
( m_state_v_TRM(c_s,s4,c_counterclockwise)
| m_state_v_TRM(c_s,s4,c_clockwise)
| node27(c_s,s4,s5) ),
inference(resolution,[],['1864','1705']) ).
cnf('1866',plain,
node27(c_s,s4,s5),
inference(resolution,[then_simplify],['1749','1865','1779']) ).
cnf('1867',plain,
node28(c_s,s3,s4),
inference(resolution,[],['478','386']) ).
cnf('1868',plain,
( m_state_v_TRM(c_s,s3,c_counterclockwise)
| m_state_v_TRM(c_s,s3,c_clockwise)
| node27(c_s,s3,s4) ),
inference(resolution,[],['1867','1705']) ).
cnf('1869',plain,
node27(c_s,s3,s4),
inference(resolution,[then_simplify],['1754','1868','1758']) ).
cnf('1870',plain,
node28(c_s,s2,s3),
inference(resolution,[],['478','175']) ).
cnf('1871',plain,
( ~ m_state_v_TRM(c_s,s2,c_clockwise)
| m_state_v_maxRot(c_s,s3) ),
inference(resolution,[],['1870','480']) ).
cnf('1872',plain,
m_state_v_maxRot(c_s,s3),
inference(resolution,[],['1722','1871']) ).
cnf('1873',plain,
m_state_v_maxRot(c_s,s4),
inference(resolution,[then_simplify],['1869','1857','1872']) ).
cnf('1874',plain,
m_state_v_maxRot(c_s,s5),
inference(resolution,[then_simplify],['1866','1857','1873']) ).
cnf('1875',plain,
m_state_v_maxRot(c_s,s6),
inference(resolution,[then_simplify],['1863','1857','1874']) ).
cnf('1876',plain,
m_state_v_maxRot(c_s,s7),
inference(resolution,[then_simplify],['1860','1857','1875']) ).
cnf('1877',plain,
m_state_v_maxRot(c_s,s8),
inference(resolution,[then_simplify],['1856','1857','1876']) ).
cnf('1878',plain,
node22(c_s,s7,s8),
inference(resolution,[],['264','1099']) ).
cnf('1879',plain,
( m_state_v_TEM(c_s,s7,c_up)
| node21(c_s,s7,s8)
| m_state_v_TEM(c_s,s7,c_down) ),
inference(resolution,[],['1878','266']) ).
cnf('1880',plain,
node21(c_s,s7,s8),
inference(resolution,[then_simplify],['1477','1879','1480']) ).
cnf('1881',plain,
( ~ node21(X,Y,Z)
| ~ m_state_v_topPos(X,Y)
| m_state_v_topPos(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_12]) ).
cnf('1882',plain,
node22(c_s,s6,s7),
inference(resolution,[],['264','949']) ).
cnf('1883',plain,
( m_state_v_TEM(c_s,s6,c_up)
| node21(c_s,s6,s7)
| m_state_v_TEM(c_s,s6,c_down) ),
inference(resolution,[],['1882','266']) ).
cnf('1884',plain,
node21(c_s,s6,s7),
inference(resolution,[then_simplify],['1437','1883','1440']) ).
cnf('1885',plain,
node22(c_s,s5,s6),
inference(resolution,[],['264','704']) ).
cnf('1886',plain,
( m_state_v_TEM(c_s,s5,c_up)
| node21(c_s,s5,s6)
| m_state_v_TEM(c_s,s5,c_down) ),
inference(resolution,[],['1885','266']) ).
cnf('1887',plain,
node21(c_s,s5,s6),
inference(resolution,[then_simplify],['1350','1886','1357']) ).
cnf('1888',plain,
node22(c_s,s4,s5),
inference(resolution,[],['264','601']) ).
cnf('1889',plain,
( m_state_v_TEM(c_s,s4,c_up)
| node21(c_s,s4,s5)
| m_state_v_TEM(c_s,s4,c_down) ),
inference(resolution,[],['1888','266']) ).
cnf('1890',plain,
node21(c_s,s4,s5),
inference(resolution,[then_simplify],['1355','1889','1361']) ).
cnf('1891',plain,
node22(c_s,s3,s4),
inference(resolution,[],['264','386']) ).
cnf('1892',plain,
( m_state_v_TEM(c_s,s3,c_up)
| node21(c_s,s3,s4)
| m_state_v_TEM(c_s,s3,c_down) ),
inference(resolution,[],['1891','266']) ).
cnf('1893',plain,
node21(c_s,s3,s4),
inference(resolution,[then_simplify],['1317','1892','1337']) ).
cnf('1894',plain,
node22(c_s,s2,s3),
inference(resolution,[],['264','175']) ).
cnf('1895',plain,
( ~ m_state_v_TEM(c_s,s2,c_up)
| m_state_v_topPos(c_s,s3) ),
inference(resolution,[],['1894','492']) ).
cnf('1896',plain,
m_state_v_topPos(c_s,s3),
inference(resolution,[],['1302','1895']) ).
cnf('1897',plain,
m_state_v_topPos(c_s,s4),
inference(resolution,[then_simplify],['1893','1881','1896']) ).
cnf('1898',plain,
m_state_v_topPos(c_s,s5),
inference(resolution,[then_simplify],['1890','1881','1897']) ).
cnf('1899',plain,
m_state_v_topPos(c_s,s6),
inference(resolution,[then_simplify],['1887','1881','1898']) ).
cnf('1900',plain,
m_state_v_topPos(c_s,s7),
inference(resolution,[then_simplify],['1884','1881','1899']) ).
cnf('1901',plain,
m_state_v_topPos(c_s,s8),
inference(resolution,[then_simplify],['1880','1881','1900']) ).
cnf('1902',plain,
m_state_v_TEM(c_s,s8,c_idle),
inference(resolution,[],['1842','1850']) ).
cnf('1903',plain,
~ m_state_v_TEM(c_s,s8,c_up),
inference(resolution,[],['1902','270']) ).
cnf('1904',plain,
~ node171(c_s,s8),
inference(resolution,[],['1903','1318']) ).
cnf('1905',plain,
( m_state_v_TEM(c_s,s9,c_down)
| m_state_v_tl(c_s,s8) ),
inference(resolution,[then_simplify],['1836','1841','1851','1877','1901','1904']) ).
cnf('1906',plain,
m_state_v_TEM(c_s,s9,c_down),
inference(resolution,[],['1694','1905']) ).
cnf('1907',plain,
( ~ node174(c_s,s9,X)
| m_state_v_TEM(c_s,X,c_down) ),
inference(resolution,[],['1906','1300']) ).
cnf('1908',plain,
~ m_state_v_TEM(c_s,s9,c_up),
inference(resolution,[],['1906','1285']) ).
cnf('1909',plain,
~ node171(c_s,s9),
inference(resolution,[],['1908','1318']) ).
cnf('1910',plain,
node175(c_s,s9,s10),
inference(resolution,[],['484','1214']) ).
cnf('1911',plain,
( node174(c_s,s9,s10)
| node170(c_s,s9)
| node171(c_s,s9)
| node172(c_s,s9)
| node173(c_s,s9) ),
inference(resolution,[],['1910','1289']) ).
cnf('1912',plain,
node24(c_s,s8,s9),
inference(resolution,[],['1305','1110']) ).
cnf('1913',plain,
( m_state_v_TEM(c_s,s8,c_up)
| node23(c_s,s8,s9)
| m_state_v_TEM(c_s,s8,c_down) ),
inference(resolution,[],['1912','1335']) ).
cnf('1914',plain,
~ m_state_v_TEM(c_s,s8,c_down),
inference(resolution,[],['1902','267']) ).
cnf('1915',plain,
node23(c_s,s8,s9),
inference(resolution,[then_simplify],['1903','1913','1914']) ).
cnf('1916',plain,
~ m_state_v_botPos(c_s,s8),
inference(resolution,[then_simplify],['1481','1339','1482']) ).
cnf('1917',plain,
~ m_state_v_botPos(c_s,s9),
inference(resolution,[then_simplify],['1915','1339','1916']) ).
cnf('1918',plain,
~ node170(c_s,s9),
inference(resolution,[],['1917','1312']) ).
cnf('1919',plain,
~ m_state_v_TRM(c_s,s8,c_clockwise),
inference(resolution,[],['1836','463']) ).
cnf('1920',plain,
~ node165(c_s,s8),
inference(resolution,[],['1919','1730']) ).
cnf('1921',plain,
node169(c_s,s8,s9),
inference(resolution,[],['458','1110']) ).
cnf('1922',plain,
( ~ node169(X0,X1,X2)
| ~ m_state_v_TRM(X0,X1,c_idle)
| ~ m_state_v_TEM(X0,X1,c_idle)
| m_state_v_TRM(X0,X2,c_counterclockwise)
| ~ m_state_v_maxRot(X0,X1)
| ~ m_state_v_topPos(X0,X1)
| node165(X0,X1)
| node164(X0,X1)
| m_state_v_tl(X0,X1) ),
inference(cnf_transformation,[],[m_ERTable_19]) ).
cnf('1923',plain,
( ~ node164(X0,X1)
| m_state_v_tl(X0,X1) ),
inference(cnf_transformation,[],[m_ERTable_5]) ).
cnf('1924',plain,
( ~ node169(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_idle)
| ~ m_state_v_TEM(X,Y,c_idle)
| m_state_v_TRM(X,Z,c_counterclockwise)
| ~ m_state_v_maxRot(X,Y)
| ~ m_state_v_topPos(X,Y)
| node165(X,Y)
| m_state_v_tl(X,Y) ),
inference(simplify,[],['1922','1923']) ).
cnf('1925',plain,
( ~ m_state_v_TRM(c_s,s8,c_idle)
| ~ m_state_v_TEM(c_s,s8,c_idle)
| ~ m_state_v_maxRot(c_s,s8)
| ~ m_state_v_topPos(c_s,s8)
| m_state_v_TRM(c_s,s9,c_counterclockwise)
| m_state_v_tl(c_s,s8)
| node165(c_s,s8) ),
inference(resolution,[],['1921','1924']) ).
cnf('1926',plain,
m_state_v_TRM(c_s,s8,c_idle),
inference(resolution,[],['1811','1835']) ).
cnf('1927',plain,
( m_state_v_TRM(c_s,s9,c_counterclockwise)
| m_state_v_tl(c_s,s8) ),
inference(resolution,[then_simplify],['1920','1925','1926','1851','1877','1901']) ).
cnf('1928',plain,
m_state_v_TRM(c_s,s9,c_counterclockwise),
inference(resolution,[],['1694','1927']) ).
cnf('1929',plain,
~ m_state_v_TRM(c_s,s9,c_idle),
inference(resolution,[],['1928','466']) ).
cnf('1930',plain,
( m_state_v_TRM(X,Y,c_idle)
| ~ node172(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_33]) ).
cnf('1931',plain,
~ node172(c_s,s9),
inference(resolution,[],['1929','1930']) ).
cnf('1932',plain,
~ node173(c_s,s9),
inference(resolution,[],['1917','1323']) ).
cnf('1933',plain,
node174(c_s,s9,s10),
inference(resolution,[then_simplify],['1909','1911','1918','1931','1932']) ).
cnf('1934',plain,
m_state_v_TEM(c_s,s10,c_down),
inference(resolution,[],['1907','1933']) ).
cnf('1935',plain,
node24(c_s,s10,s11),
inference(resolution,[],['1305','1610']) ).
cnf('1936',plain,
( ~ node24(X,Y,Z)
| ~ m_state_v_TEM(X,Y,c_down)
| m_state_v_botPos(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_20]) ).
cnf('1937',plain,
( ~ m_state_v_TEM(c_s,s10,c_down)
| m_state_v_botPos(c_s,s11) ),
inference(resolution,[],['1935','1936']) ).
cnf('1938',plain,
m_state_v_botPos(c_s,s11),
inference(resolution,[],['1934','1937']) ).
cnf('1939',plain,
succ(s11,s12),
inference(cnf_transformation,[],[bound12]) ).
cnf('1940',plain,
trans(s11,s12),
inference(resolution,[],['5','1939']) ).
cnf('1941',plain,
node185(c_s,s11,s12),
inference(resolution,[],['1233','1940']) ).
cnf('1942',plain,
( ~ node185(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_idle)
| ~ m_state_v_TEM(X,Y,c_idle)
| ~ m_state_v_FBM(X,Y,c_off)
| m_state_v_FBM(X,Z,c_on)
| ~ m_state_v_minRot(X,Y)
| ~ m_state_v_botPos(X,Y)
| node182(X,Y)
| m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_43]) ).
cnf('1943',plain,
( ~ m_state_v_FBM(c_s,s11,c_off)
| ~ m_state_v_TRM(c_s,s11,c_idle)
| ~ m_state_v_TEM(c_s,s11,c_idle)
| ~ m_state_v_botPos(c_s,s11)
| ~ m_state_v_minRot(c_s,s11)
| m_state_v_FBM(c_s,s12,c_on)
| m_state_v_tl(c_s,s11)
| node182(c_s,s11) ),
inference(resolution,[],['1941','1942']) ).
cnf('1944',plain,
( ~ node168(c_s,s9,X)
| m_state_v_TRM(c_s,X,c_counterclockwise) ),
inference(resolution,[],['1928','1698']) ).
cnf('1945',plain,
~ m_state_v_TRM(c_s,s9,c_clockwise),
inference(resolution,[],['1928','1717']) ).
cnf('1946',plain,
~ node165(c_s,s9),
inference(resolution,[],['1945','1730']) ).
cnf('1947',plain,
node169(c_s,s9,s10),
inference(resolution,[],['458','1214']) ).
cnf('1948',plain,
( node168(c_s,s9,s10)
| node164(c_s,s9)
| node165(c_s,s9)
| node166(c_s,s9)
| node167(c_s,s9) ),
inference(resolution,[],['1947','1701']) ).
cnf('1949',plain,
~ node164(c_s,s9),
inference(resolution,[],['1917','1724']) ).
cnf('1950',plain,
( m_state_v_TRM(X,Y,c_idle)
| ~ node166(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_11]) ).
cnf('1951',plain,
~ node166(c_s,s9),
inference(resolution,[],['1929','1950']) ).
cnf('1952',plain,
~ m_state_v_TRM(c_s,s8,c_counterclockwise),
inference(resolution,[],['1836','466']) ).
cnf('1953',plain,
node26(c_s,s8,s9),
inference(resolution,[],['1733','1110']) ).
cnf('1954',plain,
( m_state_v_TRM(c_s,s8,c_counterclockwise)
| node25(c_s,s8,s9)
| m_state_v_TRM(c_s,s8,c_clockwise) ),
inference(resolution,[],['1953','1756']) ).
cnf('1955',plain,
~ m_state_v_TRM(c_s,s8,c_clockwise),
inference(resolution,[],['1836','463']) ).
cnf('1956',plain,
node25(c_s,s8,s9),
inference(resolution,[then_simplify],['1952','1954','1955']) ).
cnf('1957',plain,
node26(c_s,s7,s8),
inference(resolution,[],['1733','1099']) ).
cnf('1958',plain,
( m_state_v_TRM(c_s,s7,c_counterclockwise)
| node25(c_s,s7,s8)
| m_state_v_TRM(c_s,s7,c_clockwise) ),
inference(resolution,[],['1957','1756']) ).
cnf('1959',plain,
node25(c_s,s7,s8),
inference(resolution,[then_simplify],['1852','1958','1855']) ).
cnf('1960',plain,
~ m_state_v_minRot(c_s,s7),
inference(resolution,[then_simplify],['1830','1760','1831']) ).
cnf('1961',plain,
~ m_state_v_minRot(c_s,s8),
inference(resolution,[then_simplify],['1959','1760','1960']) ).
cnf('1962',plain,
~ m_state_v_minRot(c_s,s9),
inference(resolution,[then_simplify],['1956','1760','1961']) ).
cnf('1963',plain,
~ node167(c_s,s9),
inference(resolution,[],['1962','1740']) ).
cnf('1964',plain,
node168(c_s,s9,s10),
inference(resolution,[then_simplify],['1946','1948','1949','1951','1963']) ).
cnf('1965',plain,
m_state_v_TRM(c_s,s10,c_counterclockwise),
inference(resolution,[],['1944','1964']) ).
cnf('1966',plain,
~ m_state_v_TRM(c_s,s10,c_idle),
inference(resolution,[],['1965','466']) ).
cnf('1967',plain,
( m_state_v_TRM(X,Y,c_idle)
| ~ node183(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_37]) ).
cnf('1968',plain,
~ node183(c_s,s10),
inference(resolution,[],['1966','1967']) ).
cnf('1969',plain,
( ~ node184(c_s,s9,X)
| ~ m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['1490','1242']) ).
cnf('1970',plain,
~ node183(c_s,s9),
inference(resolution,[],['1917','1366']) ).
cnf('1971',plain,
~ node182(c_s,s9),
inference(resolution,[],['1490','1238']) ).
cnf('1972',plain,
node185(c_s,s9,s10),
inference(resolution,[],['1233','1214']) ).
cnf('1973',plain,
( node184(c_s,s9,s10)
| node182(c_s,s9)
| node183(c_s,s9) ),
inference(resolution,[],['1972','1235']) ).
cnf('1974',plain,
( node184(c_s,s9,s10)
| node183(c_s,s9) ),
inference(resolution,[],['1971','1973']) ).
cnf('1975',plain,
node184(c_s,s9,s10),
inference(resolution,[],['1970','1974']) ).
cnf('1976',plain,
~ m_state_v_FBM(c_s,s10,c_on),
inference(resolution,[],['1969','1975']) ).
cnf('1977',plain,
~ node182(c_s,s10),
inference(resolution,[],['1976','1238']) ).
cnf('1978',plain,
node185(c_s,s10,s11),
inference(resolution,[],['1233','1610']) ).
cnf('1979',plain,
( node184(c_s,s10,s11)
| node182(c_s,s10)
| node183(c_s,s10) ),
inference(resolution,[],['1978','1235']) ).
cnf('1980',plain,
( node184(c_s,s10,s11)
| node183(c_s,s10) ),
inference(resolution,[],['1977','1979']) ).
cnf('1981',plain,
node184(c_s,s10,s11),
inference(resolution,[],['1968','1980']) ).
cnf('1982',plain,
( m_state_v_FBM(X,Y,c_off)
| m_state_v_FBM(X,Y,c_on) ),
inference(cnf_transformation,[],[m_state_25]) ).
cnf('1983',plain,
m_state_v_FBM(c_s,s10,c_off),
inference(resolution,[],['1976','1982']) ).
cnf('1984',plain,
( ~ node184(X,Y,Z)
| ~ m_state_v_FBM(X,Y,U)
| m_state_v_FBM(X,Z,U) ),
inference(cnf_transformation,[],[m_FeedBelt_40]) ).
cnf('1985',plain,
( ~ node184(c_s,s10,X)
| m_state_v_FBM(c_s,X,c_off) ),
inference(resolution,[],['1983','1984']) ).
cnf('1986',plain,
m_state_v_FBM(c_s,s11,c_off),
inference(resolution,[],['1981','1985']) ).
cnf('1987',plain,
node169(c_s,s10,s11),
inference(resolution,[],['458','1610']) ).
cnf('1988',plain,
( ~ node169(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_counterclockwise)
| m_state_v_TRM(X,Z,c_idle)
| ~ m_state_v_minRot(X,Y)
| node166(X,Y)
| node165(X,Y)
| node164(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_20]) ).
cnf('1989',plain,
( ~ m_state_v_TRM(c_s,s10,c_counterclockwise)
| ~ m_state_v_minRot(c_s,s10)
| m_state_v_TRM(c_s,s11,c_idle)
| node164(c_s,s10)
| node165(c_s,s10)
| node166(c_s,s10) ),
inference(resolution,[],['1987','1988']) ).
cnf('1990',plain,
node26(c_s,s9,s10),
inference(resolution,[],['1733','1214']) ).
cnf('1991',plain,
( ~ node26(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_counterclockwise)
| m_state_v_minRot(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_26]) ).
cnf('1992',plain,
( ~ m_state_v_TRM(c_s,s9,c_counterclockwise)
| m_state_v_minRot(c_s,s10) ),
inference(resolution,[],['1990','1991']) ).
cnf('1993',plain,
m_state_v_minRot(c_s,s10),
inference(resolution,[],['1928','1992']) ).
cnf('1994',plain,
~ m_state_v_tl(c_s,s10),
inference(resolution,[then_simplify],['1622','1615','1691']) ).
cnf('1995',plain,
( ~ node164(X,Y)
| m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_5]) ).
cnf('1996',plain,
~ node164(c_s,s10),
inference(resolution,[],['1994','1995']) ).
cnf('1997',plain,
node28(c_s,s9,s10),
inference(resolution,[],['478','1214']) ).
cnf('1998',plain,
( ~ node28(X0,X1,X2)
| ~ m_state_v_TRM(X0,X1,c_counterclockwise)
| m_state_v_TRM(X0,X1,c_clockwise)
| ~ m_state_v_maxRot(X0,X2) ),
inference(cnf_transformation,[],[m_Sensor_33]) ).
cnf('1999',plain,
( ~ node28(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_counterclockwise)
| ~ m_state_v_maxRot(X,Z) ),
inference(simplify,[],['1998','1736']) ).
cnf('2000',plain,
( ~ m_state_v_TRM(c_s,s9,c_counterclockwise)
| ~ m_state_v_maxRot(c_s,s10) ),
inference(resolution,[],['1997','1999']) ).
cnf('2001',plain,
~ m_state_v_maxRot(c_s,s10),
inference(resolution,[],['1928','2000']) ).
cnf('2002',plain,
~ node165(c_s,s10),
inference(resolution,[],['2001','1712']) ).
cnf('2003',plain,
( ~ node166(X,Y)
| m_state_v_maxRot(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_9]) ).
cnf('2004',plain,
~ node166(c_s,s10),
inference(resolution,[],['2001','2003']) ).
cnf('2005',plain,
m_state_v_TRM(c_s,s11,c_idle),
inference(resolution,[then_simplify],['1965','1989','1993','1996','2002','2004']) ).
cnf('2006',plain,
node175(c_s,s10,s11),
inference(resolution,[],['484','1610']) ).
cnf('2007',plain,
( ~ node175(X,Y,Z)
| ~ m_state_v_TEM(X,Y,c_down)
| m_state_v_TEM(X,Z,c_idle)
| ~ m_state_v_botPos(X,Y)
| node172(X,Y)
| node171(X,Y)
| node170(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_42]) ).
cnf('2008',plain,
( ~ m_state_v_TEM(c_s,s10,c_down)
| ~ m_state_v_botPos(c_s,s10)
| m_state_v_TEM(c_s,s11,c_idle)
| node170(c_s,s10)
| node171(c_s,s10)
| node172(c_s,s10) ),
inference(resolution,[],['2006','2007']) ).
cnf('2009',plain,
node24(c_s,s9,s10),
inference(resolution,[],['1305','1214']) ).
cnf('2010',plain,
( ~ m_state_v_TEM(c_s,s9,c_down)
| m_state_v_botPos(c_s,s10) ),
inference(resolution,[],['2009','1936']) ).
cnf('2011',plain,
m_state_v_botPos(c_s,s10),
inference(resolution,[],['1906','2010']) ).
cnf('2012',plain,
( ~ node170(X,Y)
| m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_27]) ).
cnf('2013',plain,
~ node170(c_s,s10),
inference(resolution,[],['1994','2012']) ).
cnf('2014',plain,
node22(c_s,s9,s10),
inference(resolution,[],['264','1214']) ).
cnf('2015',plain,
( ~ node22(X0,X1,X2)
| ~ m_state_v_TEM(X0,X1,c_down)
| m_state_v_TEM(X0,X1,c_up)
| ~ m_state_v_topPos(X0,X2) ),
inference(cnf_transformation,[],[m_Sensor_15]) ).
cnf('2016',plain,
( ~ node22(X,Y,Z)
| ~ m_state_v_TEM(X,Y,c_down)
| ~ m_state_v_topPos(X,Z) ),
inference(simplify,[],['2015','1308']) ).
cnf('2017',plain,
( ~ m_state_v_TEM(c_s,s9,c_down)
| ~ m_state_v_topPos(c_s,s10) ),
inference(resolution,[],['2014','2016']) ).
cnf('2018',plain,
~ m_state_v_topPos(c_s,s10),
inference(resolution,[],['1906','2017']) ).
cnf('2019',plain,
~ node171(c_s,s10),
inference(resolution,[],['2018','1292']) ).
cnf('2020',plain,
( ~ node172(X,Y)
| m_state_v_maxRot(X,Y) ),
inference(cnf_transformation,[],[m_ERTable_31]) ).
cnf('2021',plain,
~ node172(c_s,s10),
inference(resolution,[],['2001','2020']) ).
cnf('2022',plain,
m_state_v_TEM(c_s,s11,c_idle),
inference(resolution,[then_simplify],['1934','2008','2011','2013','2019','2021']) ).
cnf('2023',plain,
node26(c_s,s10,s11),
inference(resolution,[],['1733','1610']) ).
cnf('2024',plain,
( ~ m_state_v_TRM(c_s,s10,c_counterclockwise)
| m_state_v_minRot(c_s,s11) ),
inference(resolution,[],['2023','1991']) ).
cnf('2025',plain,
m_state_v_minRot(c_s,s11),
inference(resolution,[],['1965','2024']) ).
cnf('2026',plain,
( ~ node184(c_s,s10,X)
| ~ m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['1976','1242']) ).
cnf('2027',plain,
~ m_state_v_FBM(c_s,s11,c_on),
inference(resolution,[],['1981','2026']) ).
cnf('2028',plain,
~ node182(c_s,s11),
inference(resolution,[],['2027','1238']) ).
cnf('2029',plain,
( m_state_v_FBM(c_s,s12,c_on)
| m_state_v_tl(c_s,s11) ),
inference(resolution,[then_simplify],['1938','1943','1986','2005','2022','2025','2028']) ).
cnf('2030',plain,
m_state_v_FBM(c_s,s12,c_on),
inference(resolution,[],['1693','2029']) ).
cnf('2031',plain,
( ~ node184(c_s,s12,X)
| m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['2030','1984']) ).
cnf('2032',plain,
~ m_state_v_FBM(c_s,s12,c_off),
inference(resolution,[],['2030','508']) ).
cnf('2033',plain,
( m_state_v_FBM(X,Y,c_off)
| ~ node183(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_39]) ).
cnf('2034',plain,
~ node183(c_s,s12),
inference(resolution,[],['2032','2033']) ).
cnf('2035',plain,
succ(s12,s13),
inference(cnf_transformation,[],[bound13]) ).
cnf('2036',plain,
trans(s12,s13),
inference(resolution,[],['5','2035']) ).
cnf('2037',plain,
node185(c_s,s12,s13),
inference(resolution,[],['1233','2036']) ).
cnf('2038',plain,
( node184(c_s,s12,s13)
| node182(c_s,s12)
| node183(c_s,s12) ),
inference(resolution,[],['2037','1235']) ).
cnf('2039',plain,
node180(c_s,s11,s12),
inference(resolution,[],['1497','1940']) ).
cnf('2040',plain,
( ~ node180(X,Y,Z)
| ~ m_state_v_TRM(X,Y,c_idle)
| ~ m_state_v_TEM(X,Y,c_idle)
| ~ m_state_v_FBM(X,Y,c_off)
| ~ m_state_v_minRot(X,Y)
| ~ m_state_v_botPos(X,Y)
| node176(X,Y)
| m_state_v_tl(X,Y)
| m_state_v_deliv(X,Z) ),
inference(cnf_transformation,[],[m_FeedBelt_21]) ).
cnf('2041',plain,
( ~ m_state_v_FBM(c_s,s11,c_off)
| ~ m_state_v_TRM(c_s,s11,c_idle)
| ~ m_state_v_TEM(c_s,s11,c_idle)
| ~ m_state_v_botPos(c_s,s11)
| ~ m_state_v_minRot(c_s,s11)
| m_state_v_tl(c_s,s11)
| m_state_v_deliv(c_s,s12)
| node176(c_s,s11) ),
inference(resolution,[],['2039','2040']) ).
cnf('2042',plain,
~ node176(c_s,s11),
inference(resolution,[],['2027','1494']) ).
cnf('2043',plain,
( m_state_v_tl(c_s,s11)
| m_state_v_deliv(c_s,s12) ),
inference(resolution,[then_simplify],['1938','2041','1986','2005','2022','2025','2042']) ).
cnf('2044',plain,
m_state_v_deliv(c_s,s12),
inference(resolution,[],['1693','2043']) ).
cnf('2045',plain,
( ~ node182(X,Y)
| ~ m_state_v_deliv(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_31]) ).
cnf('2046',plain,
~ node182(c_s,s12),
inference(resolution,[],['2044','2045']) ).
cnf('2047',plain,
node184(c_s,s12,s13),
inference(resolution,[then_simplify],['2034','2038','2046']) ).
cnf('2048',plain,
m_state_v_FBM(c_s,s13,c_on),
inference(resolution,[],['2031','2047']) ).
cnf('2049',plain,
( ~ node184(c_s,s13,X)
| m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['2048','1984']) ).
cnf('2050',plain,
~ m_state_v_FBM(c_s,s13,c_off),
inference(resolution,[],['2048','508']) ).
cnf('2051',plain,
~ node183(c_s,s13),
inference(resolution,[],['2050','2033']) ).
cnf('2052',plain,
node20(c_s,s12,s13),
inference(resolution,[],['502','2036']) ).
cnf('2053',plain,
( ~ node20(X0,X1,X2)
| ~ m_state_v_FBM(X0,X1,c_on)
| ~ m_state_v_pfl(X0,X2)
| ~ m_state_v_deliv(X0,X1)
| node17(X0,X1) ),
inference(cnf_transformation,[],[m_Sensor_9]) ).
cnf('2054',plain,
( ~ node17(X0,X1)
| ~ m_state_v_deliv(X0,X1) ),
inference(cnf_transformation,[],[m_Sensor_2]) ).
cnf('2055',plain,
( ~ node20(X,Y,Z)
| ~ m_state_v_FBM(X,Y,c_on)
| ~ m_state_v_pfl(X,Z)
| ~ m_state_v_deliv(X,Y) ),
inference(simplify,[],['2053','2054']) ).
cnf('2056',plain,
( ~ m_state_v_FBM(c_s,s12,c_on)
| ~ m_state_v_pfl(c_s,s13)
| ~ m_state_v_deliv(c_s,s12) ),
inference(resolution,[],['2052','2055']) ).
cnf('2057',plain,
m_state_v_FBM(c_s,s12,c_on),
inference(resolution,[],['1693','2029']) ).
cnf('2058',plain,
~ m_state_v_pfl(c_s,s13),
inference(resolution,[then_simplify],['2044','2056','2057']) ).
cnf('2059',plain,
( ~ node182(X,Y)
| m_state_v_pfl(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_32]) ).
cnf('2060',plain,
~ node182(c_s,s13),
inference(resolution,[],['2058','2059']) ).
cnf('2061',plain,
succ(s13,s14),
inference(cnf_transformation,[],[bound14]) ).
cnf('2062',plain,
trans(s13,s14),
inference(resolution,[],['5','2061']) ).
cnf('2063',plain,
node185(c_s,s13,s14),
inference(resolution,[],['1233','2062']) ).
cnf('2064',plain,
( node184(c_s,s13,s14)
| node182(c_s,s13)
| node183(c_s,s13) ),
inference(resolution,[],['2063','1235']) ).
cnf('2065',plain,
( node184(c_s,s13,s14)
| node183(c_s,s13) ),
inference(resolution,[],['2060','2064']) ).
cnf('2066',plain,
node184(c_s,s13,s14),
inference(resolution,[],['2051','2065']) ).
cnf('2067',plain,
m_state_v_FBM(c_s,s14,c_on),
inference(resolution,[],['2049','2066']) ).
cnf('2068',plain,
( ~ node184(c_s,s14,X)
| m_state_v_FBM(c_s,X,c_on) ),
inference(resolution,[],['2067','1984']) ).
cnf('2069',plain,
~ m_state_v_FBM(c_s,s14,c_off),
inference(resolution,[],['2067','508']) ).
cnf('2070',plain,
~ node183(c_s,s14),
inference(resolution,[],['2069','2033']) ).
cnf('2071',plain,
( m_state_v_FBM(X,Y,c_off)
| ~ node177(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_14]) ).
cnf('2072',plain,
~ node177(c_s,s12),
inference(resolution,[],['2032','2071']) ).
cnf('2073',plain,
node180(c_s,s12,s13),
inference(resolution,[],['1497','2036']) ).
cnf('2074',plain,
( node179(c_s,s12,s13)
| node176(c_s,s12)
| node177(c_s,s12)
| node178(c_s,s12) ),
inference(resolution,[],['2073','1499']) ).
cnf('2075',plain,
( ~ node176(X,Y)
| ~ m_state_v_deliv(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_2]) ).
cnf('2076',plain,
~ node176(c_s,s12),
inference(resolution,[],['2044','2075']) ).
cnf('2077',plain,
~ node17(c_s,s11),
inference(resolution,[],['2027','511']) ).
cnf('2078',plain,
node20(c_s,s11,s12),
inference(resolution,[],['502','1940']) ).
cnf('2079',plain,
( node19(c_s,s11,s12)
| node17(c_s,s11)
| node18(c_s,s11) ),
inference(resolution,[],['2078','504']) ).
cnf('2080',plain,
( m_state_v_TRM(X,Y,c_idle)
| ~ node177(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_12]) ).
cnf('2081',plain,
~ node177(c_s,s10),
inference(resolution,[],['1966','2080']) ).
cnf('2082',plain,
~ node176(c_s,s10),
inference(resolution,[],['1976','1494']) ).
cnf('2083',plain,
node180(c_s,s10,s11),
inference(resolution,[],['1497','1610']) ).
cnf('2084',plain,
( node179(c_s,s10,s11)
| node176(c_s,s10)
| node177(c_s,s10)
| node178(c_s,s10) ),
inference(resolution,[],['2083','1499']) ).
cnf('2085',plain,
~ node178(c_s,s10),
inference(resolution,[],['1607','1514']) ).
cnf('2086',plain,
( node179(c_s,s10,s11)
| node177(c_s,s10) ),
inference(resolution,[then_simplify],['2082','2084','2085']) ).
cnf('2087',plain,
node179(c_s,s10,s11),
inference(resolution,[],['2081','2086']) ).
cnf('2088',plain,
~ node177(c_s,s9),
inference(resolution,[],['1917','1492']) ).
cnf('2089',plain,
~ node176(c_s,s9),
inference(resolution,[],['1490','1494']) ).
cnf('2090',plain,
node180(c_s,s9,s10),
inference(resolution,[],['1497','1214']) ).
cnf('2091',plain,
( node179(c_s,s9,s10)
| node176(c_s,s9)
| node177(c_s,s9)
| node178(c_s,s9) ),
inference(resolution,[],['2090','1499']) ).
cnf('2092',plain,
~ node178(c_s,s9),
inference(resolution,[],['1617','1514']) ).
cnf('2093',plain,
( node179(c_s,s9,s10)
| node177(c_s,s9) ),
inference(resolution,[then_simplify],['2089','2091','2092']) ).
cnf('2094',plain,
node179(c_s,s9,s10),
inference(resolution,[],['2088','2093']) ).
cnf('2095',plain,
~ m_state_v_deliv(c_s,s9),
inference(resolution,[then_simplify],['1580','1519','1591']) ).
cnf('2096',plain,
~ m_state_v_deliv(c_s,s10),
inference(resolution,[then_simplify],['2094','1519','2095']) ).
cnf('2097',plain,
~ m_state_v_deliv(c_s,s11),
inference(resolution,[then_simplify],['2087','1519','2096']) ).
cnf('2098',plain,
~ node18(c_s,s11),
inference(resolution,[],['2097','505']) ).
cnf('2099',plain,
node19(c_s,s11,s12),
inference(resolution,[then_simplify],['2077','2079','2098']) ).
cnf('2100',plain,
~ node17(c_s,s10),
inference(resolution,[],['1976','511']) ).
cnf('2101',plain,
~ m_state_v_deliv(c_s,s10),
inference(resolution,[then_simplify],['2094','1519','2095']) ).
cnf('2102',plain,
~ node18(c_s,s10),
inference(resolution,[],['2101','505']) ).
cnf('2103',plain,
node20(c_s,s10,s11),
inference(resolution,[],['502','1610']) ).
cnf('2104',plain,
( node19(c_s,s10,s11)
| node17(c_s,s10)
| node18(c_s,s10) ),
inference(resolution,[],['2103','504']) ).
cnf('2105',plain,
( node19(c_s,s10,s11)
| node17(c_s,s10) ),
inference(resolution,[],['2102','2104']) ).
cnf('2106',plain,
node19(c_s,s10,s11),
inference(resolution,[],['2100','2105']) ).
cnf('2107',plain,
m_state_v_pfl(c_s,s10),
inference(resolution,[then_simplify],['1597','515','1606']) ).
cnf('2108',plain,
m_state_v_pfl(c_s,s11),
inference(resolution,[then_simplify],['2106','515','2107']) ).
cnf('2109',plain,
m_state_v_pfl(c_s,s12),
inference(resolution,[then_simplify],['2099','515','2108']) ).
cnf('2110',plain,
~ node178(c_s,s12),
inference(resolution,[],['2109','1514']) ).
cnf('2111',plain,
node179(c_s,s12,s13),
inference(resolution,[then_simplify],['2072','2074','2076','2110']) ).
cnf('2112',plain,
( ~ node179(X,Y,Z)
| ~ m_state_v_deliv(X,Y)
| m_state_v_deliv(X,Z) ),
inference(cnf_transformation,[],[m_FeedBelt_18]) ).
cnf('2113',plain,
m_state_v_deliv(c_s,s12),
inference(resolution,[],['1693','2043']) ).
cnf('2114',plain,
m_state_v_deliv(c_s,s13),
inference(resolution,[then_simplify],['2111','2112','2113']) ).
cnf('2115',plain,
node20(c_s,s13,s14),
inference(resolution,[],['502','2062']) ).
cnf('2116',plain,
( ~ m_state_v_FBM(c_s,s13,c_on)
| ~ m_state_v_pfl(c_s,s14)
| ~ m_state_v_deliv(c_s,s13) ),
inference(resolution,[],['2115','2055']) ).
cnf('2117',plain,
( ~ m_state_v_FBM(c_s,s13,c_on)
| ~ m_state_v_pfl(c_s,s14) ),
inference(resolution,[],['2114','2116']) ).
cnf('2118',plain,
~ m_state_v_pfl(c_s,s14),
inference(resolution,[],['2048','2117']) ).
cnf('2119',plain,
~ node182(c_s,s14),
inference(resolution,[],['2118','2059']) ).
cnf('2120',plain,
succ(s14,s15),
inference(cnf_transformation,[],[bound15]) ).
cnf('2121',plain,
trans(s14,s15),
inference(resolution,[],['5','2120']) ).
cnf('2122',plain,
node185(c_s,s14,s15),
inference(resolution,[],['1233','2121']) ).
cnf('2123',plain,
( node184(c_s,s14,s15)
| node182(c_s,s14)
| node183(c_s,s14) ),
inference(resolution,[],['2122','1235']) ).
cnf('2124',plain,
( node184(c_s,s14,s15)
| node183(c_s,s14) ),
inference(resolution,[],['2119','2123']) ).
cnf('2125',plain,
node184(c_s,s14,s15),
inference(resolution,[],['2070','2124']) ).
cnf('2126',plain,
m_state_v_FBM(c_s,s15,c_on),
inference(resolution,[],['2068','2125']) ).
cnf('2127',plain,
~ node177(c_s,s14),
inference(resolution,[],['2069','2071']) ).
cnf('2128',plain,
~ node177(c_s,s13),
inference(resolution,[],['2050','2071']) ).
cnf('2129',plain,
node180(c_s,s13,s14),
inference(resolution,[],['1497','2062']) ).
cnf('2130',plain,
( ~ node180(X0,X1,X2)
| ~ m_state_v_FBM(X0,X1,c_on)
| ~ m_state_v_deliv(X0,X2)
| ~ m_state_v_deliv(X0,X1)
| node177(X0,X1)
| node176(X0,X1)
| m_state_v_pfl(X0,X1) ),
inference(cnf_transformation,[],[m_FeedBelt_22]) ).
cnf('2131',plain,
( ~ node176(X0,X1)
| ~ m_state_v_deliv(X0,X1) ),
inference(cnf_transformation,[],[m_FeedBelt_2]) ).
cnf('2132',plain,
( ~ node180(X,Y,Z)
| ~ m_state_v_FBM(X,Y,c_on)
| ~ m_state_v_deliv(X,Z)
| ~ m_state_v_deliv(X,Y)
| node177(X,Y)
| m_state_v_pfl(X,Y) ),
inference(simplify,[],['2130','2131']) ).
cnf('2133',plain,
( ~ m_state_v_FBM(c_s,s13,c_on)
| ~ m_state_v_deliv(c_s,s13)
| ~ m_state_v_deliv(c_s,s14)
| m_state_v_pfl(c_s,s13)
| node177(c_s,s13) ),
inference(resolution,[],['2129','2132']) ).
cnf('2134',plain,
m_state_v_FBM(c_s,s13,c_on),
inference(resolution,[],['2031','2047']) ).
cnf('2135',plain,
m_state_v_deliv(c_s,s13),
inference(resolution,[then_simplify],['2111','2112','2113']) ).
cnf('2136',plain,
~ m_state_v_pfl(c_s,s13),
inference(resolution,[then_simplify],['2044','2056','2057']) ).
cnf('2137',plain,
~ m_state_v_deliv(c_s,s14),
inference(resolution,[then_simplify],['2128','2133','2134','2135','2136']) ).
cnf('2138',plain,
~ node178(c_s,s14),
inference(resolution,[],['2137','1541']) ).
cnf('2139',plain,
node180(c_s,s14,s15),
inference(resolution,[],['1497','2121']) ).
cnf('2140',plain,
( node179(c_s,s14,s15)
| node176(c_s,s14)
| node177(c_s,s14)
| node178(c_s,s14) ),
inference(resolution,[],['2139','1499']) ).
cnf('2141',plain,
( ~ node176(X,Y)
| m_state_v_pfl(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_3]) ).
cnf('2142',plain,
~ node176(c_s,s14),
inference(resolution,[],['2118','2141']) ).
cnf('2143',plain,
( node179(c_s,s14,s15)
| node177(c_s,s14) ),
inference(resolution,[then_simplify],['2138','2140','2142']) ).
cnf('2144',plain,
node179(c_s,s14,s15),
inference(resolution,[],['2127','2143']) ).
cnf('2145',plain,
~ m_state_v_deliv(c_s,s14),
inference(resolution,[then_simplify],['2128','2133','2134','2135','2136']) ).
cnf('2146',plain,
~ m_state_v_deliv(c_s,s15),
inference(resolution,[then_simplify],['2144','1519','2145']) ).
cnf('2147',plain,
( node16(X,Y,Z)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Communication_48]) ).
cnf('2148',plain,
( node16(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['2147','324','325']) ).
cnf('2149',plain,
succ(s15,s16),
inference(cnf_transformation,[],[bound16]) ).
cnf('2150',plain,
trans(s15,s16),
inference(resolution,[],['5','2149']) ).
cnf('2151',plain,
node16(c_s,s15,s16),
inference(resolution,[],['2148','2150']) ).
cnf('2152',plain,
( ~ node16(X,Y,Z)
| ~ m_state_v_FBM(X,Y,c_on)
| ~ m_state_v_pfl(X,Y)
| m_state_v_ff(X,Z)
| m_state_v_deliv(X,Y) ),
inference(cnf_transformation,[],[m_Communication_45]) ).
cnf('2153',plain,
( ~ m_state_v_FBM(c_s,s15,c_on)
| ~ m_state_v_pfl(c_s,s15)
| m_state_v_ff(c_s,s16)
| m_state_v_deliv(c_s,s15) ),
inference(resolution,[],['2151','2152']) ).
cnf('2154',plain,
node20(c_s,s14,s15),
inference(resolution,[],['502','2121']) ).
cnf('2155',plain,
( ~ node20(X,Y,Z)
| ~ m_state_v_FBM(X,Y,c_on)
| m_state_v_ff(X,Y)
| m_state_v_pfl(X,Z)
| m_state_v_deliv(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_8]) ).
cnf('2156',plain,
( ~ m_state_v_FBM(c_s,s14,c_on)
| m_state_v_ff(c_s,s14)
| m_state_v_pfl(c_s,s15)
| m_state_v_deliv(c_s,s14) ),
inference(resolution,[],['2154','2155']) ).
cnf('2157',plain,
( ~ node13(X,Y)
| m_state_v_pfl(X,Y) ),
inference(cnf_transformation,[],[m_Communication_37]) ).
cnf('2158',plain,
~ node13(c_s,s13),
inference(resolution,[],['2058','2157']) ).
cnf('2159',plain,
( m_state_v_FBM(X,Y,c_on)
| ~ node13(X,Y) ),
inference(cnf_transformation,[],[m_Communication_35]) ).
cnf('2160',plain,
~ node13(c_s,s7),
inference(resolution,[],['1404','2159']) ).
cnf('2161',plain,
( node99(X,Y,Z)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Crane_44]) ).
cnf('2162',plain,
m_Crane_v_s(c_CR,c_s),
inference(cnf_transformation,[],[m_main_2]) ).
cnf('2163',plain,
m_Crane_v_s(c_CR,c_s),
inference(cnf_transformation,[],[m_main_2]) ).
cnf('2164',plain,
( node99(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['2161','2162','2163']) ).
cnf('2165',plain,
node99(c_s,s0,s1),
inference(resolution,[],['2164','7']) ).
cnf('2166',plain,
( ~ node99(X,Y,Z)
| ~ m_state_v_CMag(X,Y,c_on)
| ~ m_state_v_gvp(X,Y,c_ovb)
| ~ m_state_v_CVM(X,Y,c_idle)
| m_state_v_CVM(X,Z,c_up) ),
inference(cnf_transformation,[],[m_Crane_37]) ).
cnf('2167',plain,
( m_state_v_CMag(X,Y,c_off)
| m_state_v_CMag(X,Y,c_on) ),
inference(cnf_transformation,[],[m_state_17]) ).
cnf('2168',plain,
( ~ m_state_v_CMag(X,Y,c_off)
| ~ m_state_v_CMag(X,Y,c_on) ),
inference(cnf_transformation,[],[m_state_18]) ).
cnf('2169',plain,
m_state_v_CMag(X,s0,c_on),
inference(cnf_transformation,[],[m_state_107]) ).
cnf('2170',plain,
~ m_state_v_CMag(X,s0,c_off),
inference(resolution,[],['2168','2169']) ).
cnf('2171',plain,
m_state_v_CMag(X,s0,c_on),
inference(resolution,[],['2167','2170']) ).
cnf('2172',plain,
( m_state_v_gvp(X,Y,c_ovb)
| m_state_v_gvp(X,Y,c_ovf)
| m_state_v_gvp(X,Y,c_sd) ),
inference(cnf_transformation,[],[m_state_69]) ).
cnf('2173',plain,
( ~ m_state_v_gvp(X,Y,c_ovb)
| ~ m_state_v_gvp(X,Y,c_ovf) ),
inference(cnf_transformation,[],[m_state_70]) ).
cnf('2174',plain,
m_state_v_gvp(X,s0,c_ovb),
inference(cnf_transformation,[],[m_state_109]) ).
cnf('2175',plain,
~ m_state_v_gvp(X,s0,c_ovf),
inference(resolution,[],['2173','2174']) ).
cnf('2176',plain,
( ~ m_state_v_gvp(X,Y,c_ovb)
| ~ m_state_v_gvp(X,Y,c_sd) ),
inference(cnf_transformation,[],[m_state_71]) ).
cnf('2177',plain,
~ m_state_v_gvp(X3,s0,c_sd),
inference(resolution,[],['2176','2174']) ).
cnf('2178',plain,
m_state_v_gvp(X3,s0,c_ovb),
inference(resolution,[then_simplify],['2172','2175','2177']) ).
cnf('2179',plain,
( m_state_v_CVM(X,Y,c_down)
| m_state_v_CVM(X,Y,c_idle)
| m_state_v_CVM(X,Y,c_up) ),
inference(cnf_transformation,[],[m_state_19]) ).
cnf('2180',plain,
( ~ m_state_v_CVM(X,Y,c_down)
| ~ m_state_v_CVM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_22]) ).
cnf('2181',plain,
~ m_state_v_CVM(X,s0,c_down),
inference(resolution,[],['2180','332']) ).
cnf('2182',plain,
~ m_state_v_CVM(X3,s0,c_up),
inference(resolution,[],['331','332']) ).
cnf('2183',plain,
m_state_v_CVM(X3,s0,c_idle),
inference(resolution,[then_simplify],['2179','2181','2182']) ).
cnf('2184',plain,
( ~ node99(X,s0,Y)
| m_state_v_CVM(X,Y,c_up) ),
inference(resolution,[then_simplify],['2166','2171','2178','2183']) ).
cnf('2185',plain,
m_state_v_CVM(c_s,s1,c_up),
inference(resolution,[],['2165','2184']) ).
cnf('2186',plain,
( node82(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_191]) ).
cnf('2187',plain,
( node82(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['2186','56','57']) ).
cnf('2188',plain,
node82(c_s,s0,s1),
inference(resolution,[],['2187','7']) ).
cnf('2189',plain,
( ~ node82(X,Y,Z)
| node81(X,Y,Z)
| node80(X,Y)
| node79(X,Y)
| node78(X,Y)
| node77(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_190]) ).
cnf('2190',plain,
( m_state_v_CVM(X,Y,c_up)
| ~ node80(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_183]) ).
cnf('2191',plain,
~ node80(X,s0),
inference(resolution,[],['333','2190']) ).
cnf('2192',plain,
( m_state_v_CVM(X,Y,c_down)
| ~ node79(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_180]) ).
cnf('2193',plain,
~ node79(X3,s0),
inference(resolution,[],['2181','2192']) ).
cnf('2194',plain,
( m_state_v_CVM(X,Y,c_down)
| ~ node78(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_177]) ).
cnf('2195',plain,
~ node78(X3,s0),
inference(resolution,[],['2181','2194']) ).
cnf('2196',plain,
( m_state_v_CVM(X,Y,c_up)
| ~ node77(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_174]) ).
cnf('2197',plain,
~ node77(X3,s0),
inference(resolution,[],['333','2196']) ).
cnf('2198',plain,
( ~ node82(X,s0,Y)
| node81(X,s0,Y) ),
inference(resolution,[then_simplify],['2189','2191','2193','2195','2197']) ).
cnf('2199',plain,
node81(c_s,s0,s1),
inference(resolution,[],['2188','2198']) ).
cnf('2200',plain,
( ~ node81(X,Y,Z)
| ~ m_state_v_gvp(X,Y,U)
| m_state_v_gvp(X,Z,U) ),
inference(cnf_transformation,[],[m_Sensor_184]) ).
cnf('2201',plain,
( ~ node81(X,s0,Y)
| m_state_v_gvp(X,Y,c_ovb) ),
inference(resolution,[],['2200','2174']) ).
cnf('2202',plain,
m_state_v_gvp(c_s,s1,c_ovb),
inference(resolution,[],['2199','2201']) ).
cnf('2203',plain,
( ~ node82(X,Y,Z)
| ~ m_state_v_gripper_status(X,Y,c_gripperstoppedat_ovb)
| ~ m_state_v_gvp(X,Y,c_ovb)
| ~ m_state_v_CVM(X,Y,c_up)
| m_state_v_gvp(X,Z,c_sd) ),
inference(cnf_transformation,[],[m_Sensor_186]) ).
cnf('2204',plain,
( node87(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_204]) ).
cnf('2205',plain,
( node87(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['2204','56','57']) ).
cnf('2206',plain,
node87(c_s,s0,s1),
inference(resolution,[],['2205','7']) ).
cnf('2207',plain,
( ~ node87(X,Y,Z)
| ~ m_state_v_gvp(X,Y,c_ovb)
| ~ m_state_v_CVM(X,Y,c_idle)
| m_state_v_gripper_status(X,Z,c_gripperstoppedat_ovb) ),
inference(cnf_transformation,[],[m_Sensor_200]) ).
cnf('2208',plain,
m_state_v_gvp(X,s0,c_ovb),
inference(resolution,[then_simplify],['2172','2175','2177']) ).
cnf('2209',plain,
( ~ node87(X,s0,Y)
| m_state_v_gripper_status(X,Y,c_gripperstoppedat_ovb) ),
inference(resolution,[then_simplify],['2207','2208','2183']) ).
cnf('2210',plain,
m_state_v_gripper_status(c_s,s1,c_gripperstoppedat_ovb),
inference(resolution,[],['2206','2209']) ).
cnf('2211',plain,
( ~ m_state_v_CVM(c_s,s1,c_up)
| ~ node82(c_s,s1,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[then_simplify],['2202','2203','2210']) ).
cnf('2212',plain,
node82(c_s,s1,s2),
inference(resolution,[],['2187','60']) ).
cnf('2213',plain,
( ~ m_state_v_CVM(c_s,s1,c_up)
| m_state_v_gvp(c_s,s2,c_sd) ),
inference(resolution,[],['2211','2212']) ).
cnf('2214',plain,
m_state_v_gvp(c_s,s2,c_sd),
inference(resolution,[],['2185','2213']) ).
cnf('2215',plain,
( ~ node81(c_s,s2,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['2214','2200']) ).
cnf('2216',plain,
~ m_state_v_CVM(c_s,s1,c_idle),
inference(resolution,[],['2185','331']) ).
cnf('2217',plain,
( m_state_v_CVM(X,Y,c_idle)
| ~ node83(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_192]) ).
cnf('2218',plain,
~ node83(c_s,s1),
inference(resolution,[],['2216','2217']) ).
cnf('2219',plain,
( ~ node81(X,Y,Z)
| ~ m_state_v_gvp(X,Z,U)
| m_state_v_gvp(X,Y,U) ),
inference(cnf_transformation,[],[m_Sensor_185]) ).
cnf('2220',plain,
( ~ node81(X,s0,Y)
| ~ m_state_v_gvp(X,Y,c_ovf) ),
inference(resolution,[],['2219','2175']) ).
cnf('2221',plain,
~ m_state_v_gvp(c_s,s1,c_ovf),
inference(resolution,[],['2199','2220']) ).
cnf('2222',plain,
( m_state_v_gvp(X,Y,c_ovf)
| ~ node84(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_195]) ).
cnf('2223',plain,
~ node84(c_s,s1),
inference(resolution,[],['2221','2222']) ).
cnf('2224',plain,
node87(c_s,s1,s2),
inference(resolution,[],['2205','60']) ).
cnf('2225',plain,
( ~ node87(X,Y,Z)
| node86(X,Y,Z)
| node85(X,Y)
| node84(X,Y)
| node83(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_203]) ).
cnf('2226',plain,
( node86(c_s,s1,s2)
| node83(c_s,s1)
| node84(c_s,s1)
| node85(c_s,s1) ),
inference(resolution,[],['2224','2225']) ).
cnf('2227',plain,
~ m_state_v_gvp(X,s0,c_sd),
inference(resolution,[],['2176','2174']) ).
cnf('2228',plain,
( ~ node81(X,s0,Y)
| ~ m_state_v_gvp(X,Y,c_sd) ),
inference(resolution,[],['2219','2227']) ).
cnf('2229',plain,
~ m_state_v_gvp(c_s,s1,c_sd),
inference(resolution,[],['2199','2228']) ).
cnf('2230',plain,
( m_state_v_gvp(X,Y,c_sd)
| ~ node85(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_197]) ).
cnf('2231',plain,
~ node85(c_s,s1),
inference(resolution,[],['2229','2230']) ).
cnf('2232',plain,
( node86(c_s,s1,s2)
| node83(c_s,s1) ),
inference(resolution,[then_simplify],['2223','2226','2231']) ).
cnf('2233',plain,
node86(c_s,s1,s2),
inference(resolution,[],['2218','2232']) ).
cnf('2234',plain,
m_state_v_gripper_status(c_s,s1,c_gripperstoppedat_ovb),
inference(resolution,[],['2206','2209']) ).
cnf('2235',plain,
( ~ m_state_v_gripper_status(X,Y,c_gripperstoppedat_sd)
| ~ m_state_v_gripper_status(X,Y,c_gripperstoppedat_ovb) ),
inference(cnf_transformation,[],[m_state_68]) ).
cnf('2236',plain,
~ m_state_v_gripper_status(c_s,s1,c_gripperstoppedat_sd),
inference(resolution,[],['2234','2235']) ).
cnf('2237',plain,
( ~ node86(X,Y,Z)
| ~ m_state_v_gripper_status(X,Z,U)
| m_state_v_gripper_status(X,Y,U) ),
inference(cnf_transformation,[],[m_Sensor_199]) ).
cnf('2238',plain,
( ~ node86(c_s,s1,X)
| ~ m_state_v_gripper_status(c_s,X,c_gripperstoppedat_sd) ),
inference(resolution,[],['2236','2237']) ).
cnf('2239',plain,
~ m_state_v_gripper_status(c_s,s2,c_gripperstoppedat_sd),
inference(resolution,[],['2233','2238']) ).
cnf('2240',plain,
( m_state_v_gripper_status(X,Y,c_gripperstoppedat_sd)
| ~ node78(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_176]) ).
cnf('2241',plain,
~ node78(c_s,s2),
inference(resolution,[],['2239','2240']) ).
cnf('2242',plain,
node82(c_s,s2,s3),
inference(resolution,[],['2187','175']) ).
cnf('2243',plain,
( node81(c_s,s2,s3)
| node77(c_s,s2)
| node78(c_s,s2)
| node79(c_s,s2)
| node80(c_s,s2) ),
inference(resolution,[],['2242','2189']) ).
cnf('2244',plain,
~ m_state_v_gvp(c_s,s2,c_ovb),
inference(resolution,[],['2214','2176']) ).
cnf('2245',plain,
( m_state_v_gvp(X,Y,c_ovb)
| ~ node77(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_172]) ).
cnf('2246',plain,
~ node77(c_s,s2),
inference(resolution,[],['2244','2245']) ).
cnf('2247',plain,
( ~ m_state_v_gvp(X,Y,c_ovf)
| ~ m_state_v_gvp(X,Y,c_sd) ),
inference(cnf_transformation,[],[m_state_72]) ).
cnf('2248',plain,
~ m_state_v_gvp(c_s,s2,c_ovf),
inference(resolution,[],['2214','2247']) ).
cnf('2249',plain,
( m_state_v_gvp(X,Y,c_ovf)
| ~ node79(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_178]) ).
cnf('2250',plain,
~ node79(c_s,s2),
inference(resolution,[],['2248','2249']) ).
cnf('2251',plain,
( m_state_v_gvp(X,Y,c_ovf)
| ~ node80(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_181]) ).
cnf('2252',plain,
~ node80(c_s,s2),
inference(resolution,[],['2248','2251']) ).
cnf('2253',plain,
node81(c_s,s2,s3),
inference(resolution,[then_simplify],['2241','2243','2246','2250','2252']) ).
cnf('2254',plain,
m_state_v_gvp(c_s,s3,c_sd),
inference(resolution,[],['2215','2253']) ).
cnf('2255',plain,
( ~ node81(c_s,s3,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['2254','2200']) ).
cnf('2256',plain,
( ~ node86(c_s,s2,X)
| ~ m_state_v_gripper_status(c_s,X,c_gripperstoppedat_sd) ),
inference(resolution,[],['2239','2237']) ).
cnf('2257',plain,
( m_state_v_CVM(X,Y,c_idle)
| ~ node92(X,Y) ),
inference(cnf_transformation,[],[m_Crane_16]) ).
cnf('2258',plain,
~ node92(c_s,s1),
inference(resolution,[],['2216','2257']) ).
cnf('2259',plain,
( ~ node99(X,Y,Z)
| node98(X,Y,Z)
| node97(X,Y)
| node96(X,Y)
| node95(X,Y)
| node94(X,Y)
| node93(X,Y)
| node92(X,Y) ),
inference(cnf_transformation,[],[m_Crane_43]) ).
cnf('2260',plain,
( ~ m_state_v_CVM(X,Y,c_down)
| ~ m_state_v_CVM(X,Y,c_up) ),
inference(cnf_transformation,[],[m_state_20]) ).
cnf('2261',plain,
~ m_state_v_CVM(c_s,s1,c_down),
inference(resolution,[],['2185','2260']) ).
cnf('2262',plain,
( m_state_v_CVM(X,Y,c_down)
| ~ node97(X,Y) ),
inference(cnf_transformation,[],[m_Crane_33]) ).
cnf('2263',plain,
~ node97(c_s,s1),
inference(resolution,[],['2261','2262']) ).
cnf('2264',plain,
( node105(X,Y,Z)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Crane_63]) ).
cnf('2265',plain,
( node105(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['2264','2162','2163']) ).
cnf('2266',plain,
node105(c_s,s0,s1),
inference(resolution,[],['2265','7']) ).
cnf('2267',plain,
( ~ node105(X,Y,Z)
| node104(X,Y,Z)
| node103(X,Y)
| node102(X,Y)
| node101(X,Y)
| node100(X,Y) ),
inference(cnf_transformation,[],[m_Crane_62]) ).
cnf('2268',plain,
( ~ m_state_v_CHM(X,Y,c_todepbelt)
| ~ m_state_v_CHM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_16]) ).
cnf('2269',plain,
m_state_v_CHM(X,s0,c_idle),
inference(cnf_transformation,[],[m_state_112]) ).
cnf('2270',plain,
~ m_state_v_CHM(X,s0,c_todepbelt),
inference(resolution,[],['2268','2269']) ).
cnf('2271',plain,
( m_state_v_CHM(X,Y,c_todepbelt)
| ~ node103(X,Y) ),
inference(cnf_transformation,[],[m_Crane_54]) ).
cnf('2272',plain,
~ node103(X,s0),
inference(resolution,[],['2270','2271']) ).
cnf('2273',plain,
( ~ node102(X,Y)
| m_state_v_gof(X,Y) ),
inference(cnf_transformation,[],[m_Crane_51]) ).
cnf('2274',plain,
~ m_state_v_gof(X,s0),
inference(cnf_transformation,[],[m_state_114]) ).
cnf('2275',plain,
~ node102(X3,s0),
inference(resolution,[],['2273','2274']) ).
cnf('2276',plain,
( ~ node101(X,Y)
| m_state_v_gof(X,Y) ),
inference(cnf_transformation,[],[m_Crane_48]) ).
cnf('2277',plain,
~ node101(X3,s0),
inference(resolution,[],['2276','2274']) ).
cnf('2278',plain,
( m_state_v_CVM(X,Y,c_up)
| ~ node100(X,Y) ),
inference(cnf_transformation,[],[m_Crane_45]) ).
cnf('2279',plain,
~ node100(X3,s0),
inference(resolution,[],['333','2278']) ).
cnf('2280',plain,
( ~ node105(X,s0,Y)
| node104(X,s0,Y) ),
inference(resolution,[then_simplify],['2267','2272','2275','2277','2279']) ).
cnf('2281',plain,
node104(c_s,s0,s1),
inference(resolution,[],['2266','2280']) ).
cnf('2282',plain,
( ~ node104(X,Y,Z)
| ~ m_state_v_CHM(X,Z,U)
| m_state_v_CHM(X,Y,U) ),
inference(cnf_transformation,[],[m_Crane_57]) ).
cnf('2283',plain,
( ~ node104(X,s0,Y)
| ~ m_state_v_CHM(X,Y,c_todepbelt) ),
inference(resolution,[],['2282','2270']) ).
cnf('2284',plain,
~ m_state_v_CHM(c_s,s1,c_todepbelt),
inference(resolution,[],['2281','2283']) ).
cnf('2285',plain,
( m_state_v_CHM(X,Y,c_todepbelt)
| ~ node96(X,Y) ),
inference(cnf_transformation,[],[m_Crane_30]) ).
cnf('2286',plain,
~ node96(c_s,s1),
inference(resolution,[],['2284','2285']) ).
cnf('2287',plain,
( node76(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_171]) ).
cnf('2288',plain,
( node76(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['2287','56','57']) ).
cnf('2289',plain,
node76(c_s,s0,s1),
inference(resolution,[],['2288','7']) ).
cnf('2290',plain,
( ~ node76(X,Y,Z)
| node75(X,Y,Z)
| m_state_v_CHM(X,Y,c_tofeedbelt)
| m_state_v_CHM(X,Y,c_todepbelt) ),
inference(cnf_transformation,[],[m_Sensor_170]) ).
cnf('2291',plain,
( ~ m_state_v_CHM(X,Y,c_tofeedbelt)
| ~ m_state_v_CHM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_15]) ).
cnf('2292',plain,
~ m_state_v_CHM(X,s0,c_tofeedbelt),
inference(resolution,[],['2291','2269']) ).
cnf('2293',plain,
~ m_state_v_CHM(X3,s0,c_todepbelt),
inference(resolution,[],['2268','2269']) ).
cnf('2294',plain,
( ~ node76(X,s0,Y)
| node75(X,s0,Y) ),
inference(resolution,[then_simplify],['2290','2292','2293']) ).
cnf('2295',plain,
node75(c_s,s0,s1),
inference(resolution,[],['2289','2294']) ).
cnf('2296',plain,
( ~ node75(X,Y,Z)
| ~ m_state_v_gof(X,Z)
| m_state_v_gof(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_167]) ).
cnf('2297',plain,
( ~ node75(X,s0,Y)
| ~ m_state_v_gof(X,Y) ),
inference(resolution,[],['2296','2274']) ).
cnf('2298',plain,
~ m_state_v_gof(c_s,s1),
inference(resolution,[],['2295','2297']) ).
cnf('2299',plain,
( ~ node95(X,Y)
| m_state_v_gof(X,Y) ),
inference(cnf_transformation,[],[m_Crane_29]) ).
cnf('2300',plain,
~ node95(c_s,s1),
inference(resolution,[],['2298','2299']) ).
cnf('2301',plain,
( ~ node94(X,Y)
| m_state_v_gof(X,Y) ),
inference(cnf_transformation,[],[m_Crane_21]) ).
cnf('2302',plain,
~ node94(c_s,s1),
inference(resolution,[],['2298','2301']) ).
cnf('2303',plain,
( m_state_v_gvp(X,Y,c_sd)
| ~ node93(X,Y) ),
inference(cnf_transformation,[],[m_Crane_20]) ).
cnf('2304',plain,
~ node93(c_s,s1),
inference(resolution,[],['2229','2303']) ).
cnf('2305',plain,
( ~ node99(c_s,s1,X)
| node98(c_s,s1,X) ),
inference(resolution,[then_simplify],['2258','2259','2263','2286','2300','2302','2304']) ).
cnf('2306',plain,
node99(c_s,s1,s2),
inference(resolution,[],['2164','60']) ).
cnf('2307',plain,
node98(c_s,s1,s2),
inference(resolution,[],['2305','2306']) ).
cnf('2308',plain,
( ~ node98(X,Y,Z)
| ~ m_state_v_CVM(X,Z,U)
| m_state_v_CVM(X,Y,U) ),
inference(cnf_transformation,[],[m_Crane_36]) ).
cnf('2309',plain,
( ~ node98(c_s,s1,X)
| ~ m_state_v_CVM(c_s,X,c_idle) ),
inference(resolution,[],['2216','2308']) ).
cnf('2310',plain,
~ m_state_v_CVM(c_s,s2,c_idle),
inference(resolution,[],['2307','2309']) ).
cnf('2311',plain,
( m_state_v_CVM(X,Y,c_idle)
| ~ node85(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_196]) ).
cnf('2312',plain,
~ node85(c_s,s2),
inference(resolution,[],['2310','2311']) ).
cnf('2313',plain,
~ node84(c_s,s2),
inference(resolution,[],['2248','2222']) ).
cnf('2314',plain,
node87(c_s,s2,s3),
inference(resolution,[],['2205','175']) ).
cnf('2315',plain,
( node86(c_s,s2,s3)
| node83(c_s,s2)
| node84(c_s,s2)
| node85(c_s,s2) ),
inference(resolution,[],['2314','2225']) ).
cnf('2316',plain,
( m_state_v_gvp(X,Y,c_ovb)
| ~ node83(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_193]) ).
cnf('2317',plain,
~ node83(c_s,s2),
inference(resolution,[],['2244','2316']) ).
cnf('2318',plain,
( node86(c_s,s2,s3)
| node85(c_s,s2) ),
inference(resolution,[then_simplify],['2313','2315','2317']) ).
cnf('2319',plain,
node86(c_s,s2,s3),
inference(resolution,[],['2312','2318']) ).
cnf('2320',plain,
~ m_state_v_gripper_status(c_s,s3,c_gripperstoppedat_sd),
inference(resolution,[],['2256','2319']) ).
cnf('2321',plain,
~ node78(c_s,s3),
inference(resolution,[],['2320','2240']) ).
cnf('2322',plain,
~ m_state_v_gvp(c_s,s3,c_ovf),
inference(resolution,[],['2254','2247']) ).
cnf('2323',plain,
~ node80(c_s,s3),
inference(resolution,[],['2322','2251']) ).
cnf('2324',plain,
node82(c_s,s3,s4),
inference(resolution,[],['2187','386']) ).
cnf('2325',plain,
( node81(c_s,s3,s4)
| node77(c_s,s3)
| node78(c_s,s3)
| node79(c_s,s3)
| node80(c_s,s3) ),
inference(resolution,[],['2324','2189']) ).
cnf('2326',plain,
~ m_state_v_gvp(c_s,s3,c_ovb),
inference(resolution,[],['2254','2176']) ).
cnf('2327',plain,
~ node77(c_s,s3),
inference(resolution,[],['2326','2245']) ).
cnf('2328',plain,
~ node79(c_s,s3),
inference(resolution,[],['2322','2249']) ).
cnf('2329',plain,
( node81(c_s,s3,s4)
| node78(c_s,s3) ),
inference(resolution,[then_simplify],['2323','2325','2327','2328']) ).
cnf('2330',plain,
node81(c_s,s3,s4),
inference(resolution,[],['2321','2329']) ).
cnf('2331',plain,
m_state_v_gvp(c_s,s4,c_sd),
inference(resolution,[],['2255','2330']) ).
cnf('2332',plain,
~ m_state_v_gvp(c_s,s4,c_ovf),
inference(resolution,[],['2331','2247']) ).
cnf('2333',plain,
( m_state_v_gvp(X,Y,c_ovf)
| ~ node89(X,Y) ),
inference(cnf_transformation,[],[m_Crane_8]) ).
cnf('2334',plain,
~ node89(c_s,s4),
inference(resolution,[],['2332','2333']) ).
cnf('2335',plain,
( m_state_v_gvp(X,Y,c_sd)
| ~ node100(X,Y) ),
inference(cnf_transformation,[],[m_Crane_46]) ).
cnf('2336',plain,
~ node100(c_s,s1),
inference(resolution,[],['2229','2335']) ).
cnf('2337',plain,
node105(c_s,s1,s2),
inference(resolution,[],['2265','60']) ).
cnf('2338',plain,
~ node102(c_s,s1),
inference(resolution,[],['2298','2273']) ).
cnf('2339',plain,
~ node101(c_s,s1),
inference(resolution,[],['2298','2276']) ).
cnf('2340',plain,
( node104(c_s,s1,s2)
| node100(c_s,s1)
| node103(c_s,s1) ),
inference(resolution,[then_simplify],['2337','2267','2338','2339']) ).
cnf('2341',plain,
~ node103(c_s,s1),
inference(resolution,[],['2284','2271']) ).
cnf('2342',plain,
( node104(c_s,s1,s2)
| node100(c_s,s1) ),
inference(simplify,[],['2340','2341']) ).
cnf('2343',plain,
node104(c_s,s1,s2),
inference(resolution,[],['2336','2342']) ).
cnf('2344',plain,
( ~ node104(X,s0,Y)
| ~ m_state_v_CHM(X,Y,c_tofeedbelt) ),
inference(resolution,[],['2282','2292']) ).
cnf('2345',plain,
~ m_state_v_CHM(c_s,s1,c_tofeedbelt),
inference(resolution,[],['2281','2344']) ).
cnf('2346',plain,
( ~ node104(c_s,s1,X)
| ~ m_state_v_CHM(c_s,X,c_tofeedbelt) ),
inference(resolution,[],['2345','2282']) ).
cnf('2347',plain,
~ m_state_v_CHM(c_s,s2,c_tofeedbelt),
inference(resolution,[],['2343','2346']) ).
cnf('2348',plain,
node76(c_s,s2,s3),
inference(resolution,[],['2288','175']) ).
cnf('2349',plain,
( node75(c_s,s2,s3)
| m_state_v_CHM(c_s,s2,c_todepbelt)
| m_state_v_CHM(c_s,s2,c_tofeedbelt) ),
inference(resolution,[],['2348','2290']) ).
cnf('2350',plain,
( ~ node104(c_s,s1,X)
| ~ m_state_v_CHM(c_s,X,c_todepbelt) ),
inference(resolution,[],['2284','2282']) ).
cnf('2351',plain,
~ m_state_v_CHM(c_s,s2,c_todepbelt),
inference(resolution,[],['2343','2350']) ).
cnf('2352',plain,
node75(c_s,s2,s3),
inference(resolution,[then_simplify],['2347','2349','2351']) ).
cnf('2353',plain,
node76(c_s,s1,s2),
inference(resolution,[],['2288','60']) ).
cnf('2354',plain,
( node75(c_s,s1,s2)
| m_state_v_CHM(c_s,s1,c_todepbelt)
| m_state_v_CHM(c_s,s1,c_tofeedbelt) ),
inference(resolution,[],['2353','2290']) ).
cnf('2355',plain,
~ m_state_v_CHM(c_s,s1,c_tofeedbelt),
inference(resolution,[],['2281','2344']) ).
cnf('2356',plain,
node75(c_s,s1,s2),
inference(resolution,[then_simplify],['2284','2354','2355']) ).
cnf('2357',plain,
~ m_state_v_gof(c_s,s1),
inference(resolution,[],['2295','2297']) ).
cnf('2358',plain,
~ m_state_v_gof(c_s,s2),
inference(resolution,[then_simplify],['2356','2296','2357']) ).
cnf('2359',plain,
~ m_state_v_gof(c_s,s3),
inference(resolution,[then_simplify],['2352','2296','2358']) ).
cnf('2360',plain,
( ~ node89(X,Y)
| m_state_v_gof(X,Y) ),
inference(cnf_transformation,[],[m_Crane_9]) ).
cnf('2361',plain,
~ node89(c_s,s3),
inference(resolution,[],['2359','2360']) ).
cnf('2362',plain,
~ m_state_v_gof(c_s,s2),
inference(resolution,[then_simplify],['2356','2296','2357']) ).
cnf('2363',plain,
~ node89(c_s,s2),
inference(resolution,[],['2362','2360']) ).
cnf('2364',plain,
( node91(X,Y,Z)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ m_Crane_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Crane_15]) ).
cnf('2365',plain,
( node91(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['2364','2162','2163']) ).
cnf('2366',plain,
node91(c_s,s2,s3),
inference(resolution,[],['2365','175']) ).
cnf('2367',plain,
( ~ node91(X,Y,Z)
| node90(X,Y,Z)
| node89(X,Y)
| node88(X,Y) ),
inference(cnf_transformation,[],[m_Crane_14]) ).
cnf('2368',plain,
( node90(c_s,s2,s3)
| node88(c_s,s2)
| node89(c_s,s2) ),
inference(resolution,[],['2366','2367']) ).
cnf('2369',plain,
node91(c_s,s0,s1),
inference(resolution,[],['2365','7']) ).
cnf('2370',plain,
~ node89(X,s0),
inference(resolution,[],['2360','2274']) ).
cnf('2371',plain,
( m_state_v_CMag(X,Y,c_off)
| ~ node88(X,Y) ),
inference(cnf_transformation,[],[m_Crane_5]) ).
cnf('2372',plain,
~ node88(X3,s0),
inference(resolution,[],['2170','2371']) ).
cnf('2373',plain,
( ~ node91(X,s0,Y)
| node90(X,s0,Y) ),
inference(resolution,[then_simplify],['2367','2370','2372']) ).
cnf('2374',plain,
node90(c_s,s0,s1),
inference(resolution,[],['2369','2373']) ).
cnf('2375',plain,
( ~ node90(X,Y,Z)
| ~ m_state_v_CMag(X,Z,U)
| m_state_v_CMag(X,Y,U) ),
inference(cnf_transformation,[],[m_Crane_11]) ).
cnf('2376',plain,
( ~ node90(X,s0,Y)
| ~ m_state_v_CMag(X,Y,c_off) ),
inference(resolution,[],['2375','2170']) ).
cnf('2377',plain,
~ m_state_v_CMag(c_s,s1,c_off),
inference(resolution,[],['2374','2376']) ).
cnf('2378',plain,
( ~ node90(c_s,s1,X)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2377','2375']) ).
cnf('2379',plain,
node91(c_s,s1,s2),
inference(resolution,[],['2365','60']) ).
cnf('2380',plain,
~ node89(c_s,s1),
inference(resolution,[],['2298','2360']) ).
cnf('2381',plain,
( node90(c_s,s1,s2)
| node88(c_s,s1) ),
inference(resolution,[then_simplify],['2379','2367','2380']) ).
cnf('2382',plain,
~ node88(c_s,s1),
inference(resolution,[],['2377','2371']) ).
cnf('2383',plain,
node90(c_s,s1,s2),
inference(simplify,[],['2381','2382']) ).
cnf('2384',plain,
~ m_state_v_CMag(c_s,s2,c_off),
inference(resolution,[],['2378','2383']) ).
cnf('2385',plain,
~ node88(c_s,s2),
inference(resolution,[],['2384','2371']) ).
cnf('2386',plain,
( node90(c_s,s2,s3)
| node89(c_s,s2) ),
inference(simplify,[],['2368','2385']) ).
cnf('2387',plain,
node90(c_s,s2,s3),
inference(resolution,[],['2363','2386']) ).
cnf('2388',plain,
( ~ node90(c_s,s2,X)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2384','2375']) ).
cnf('2389',plain,
~ m_state_v_CMag(c_s,s3,c_off),
inference(resolution,[],['2387','2388']) ).
cnf('2390',plain,
~ node88(c_s,s3),
inference(resolution,[],['2389','2371']) ).
cnf('2391',plain,
node91(c_s,s3,s4),
inference(resolution,[],['2365','386']) ).
cnf('2392',plain,
( node90(c_s,s3,s4)
| node88(c_s,s3)
| node89(c_s,s3) ),
inference(resolution,[],['2391','2367']) ).
cnf('2393',plain,
( node90(c_s,s3,s4)
| node89(c_s,s3) ),
inference(resolution,[],['2390','2392']) ).
cnf('2394',plain,
node90(c_s,s3,s4),
inference(resolution,[],['2361','2393']) ).
cnf('2395',plain,
( ~ node90(c_s,s3,X)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2389','2375']) ).
cnf('2396',plain,
~ m_state_v_CMag(c_s,s4,c_off),
inference(resolution,[],['2394','2395']) ).
cnf('2397',plain,
~ node88(c_s,s4),
inference(resolution,[],['2396','2371']) ).
cnf('2398',plain,
node91(c_s,s4,s5),
inference(resolution,[],['2365','601']) ).
cnf('2399',plain,
( node90(c_s,s4,s5)
| node88(c_s,s4)
| node89(c_s,s4) ),
inference(resolution,[],['2398','2367']) ).
cnf('2400',plain,
( node90(c_s,s4,s5)
| node89(c_s,s4) ),
inference(resolution,[],['2397','2399']) ).
cnf('2401',plain,
node90(c_s,s4,s5),
inference(resolution,[],['2334','2400']) ).
cnf('2402',plain,
m_state_v_CMag(c_s,s2,c_on),
inference(resolution,[],['2384','2167']) ).
cnf('2403',plain,
( ~ node90(X,Y,Z)
| ~ m_state_v_CMag(X,Y,U)
| m_state_v_CMag(X,Z,U) ),
inference(cnf_transformation,[],[m_Crane_10]) ).
cnf('2404',plain,
( ~ node90(c_s,s2,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['2402','2403']) ).
cnf('2405',plain,
m_state_v_CMag(c_s,s3,c_on),
inference(resolution,[],['2387','2404']) ).
cnf('2406',plain,
( ~ node90(c_s,s3,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['2405','2403']) ).
cnf('2407',plain,
m_state_v_CMag(c_s,s4,c_on),
inference(resolution,[],['2394','2406']) ).
cnf('2408',plain,
( ~ node90(c_s,s4,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['2407','2403']) ).
cnf('2409',plain,
m_state_v_CMag(c_s,s5,c_on),
inference(resolution,[],['2401','2408']) ).
cnf('2410',plain,
( ~ node90(c_s,s5,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['2409','2403']) ).
cnf('2411',plain,
( ~ node81(c_s,s4,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['2331','2200']) ).
cnf('2412',plain,
( ~ node98(X,Y,Z)
| ~ m_state_v_CVM(X,Y,U)
| m_state_v_CVM(X,Z,U) ),
inference(cnf_transformation,[],[m_Crane_35]) ).
cnf('2413',plain,
( ~ node98(c_s,s1,X)
| m_state_v_CVM(c_s,X,c_up) ),
inference(resolution,[],['2185','2412']) ).
cnf('2414',plain,
m_state_v_CVM(c_s,s2,c_up),
inference(resolution,[],['2307','2413']) ).
cnf('2415',plain,
( ~ node99(X,Y,Z)
| ~ m_state_v_gvp(X,Y,c_sd)
| ~ m_state_v_CVM(X,Y,c_up)
| m_state_v_CVM(X,Z,c_idle)
| node92(X,Y) ),
inference(cnf_transformation,[],[m_Crane_38]) ).
cnf('2416',plain,
m_state_v_gvp(c_s,s2,c_sd),
inference(resolution,[],['2185','2213']) ).
cnf('2417',plain,
( m_state_v_gvp(X,Y,c_ovb)
| ~ node92(X,Y) ),
inference(cnf_transformation,[],[m_Crane_17]) ).
cnf('2418',plain,
~ node92(c_s,s2),
inference(resolution,[],['2244','2417']) ).
cnf('2419',plain,
( ~ node99(c_s,s2,X)
| m_state_v_CVM(c_s,X,c_idle) ),
inference(resolution,[then_simplify],['2414','2415','2416','2418']) ).
cnf('2420',plain,
node99(c_s,s2,s3),
inference(resolution,[],['2164','175']) ).
cnf('2421',plain,
m_state_v_CVM(c_s,s3,c_idle),
inference(resolution,[],['2419','2420']) ).
cnf('2422',plain,
~ m_state_v_CVM(c_s,s3,c_up),
inference(resolution,[],['2421','331']) ).
cnf('2423',plain,
( m_state_v_CVM(X,Y,c_up)
| ~ node93(X,Y) ),
inference(cnf_transformation,[],[m_Crane_19]) ).
cnf('2424',plain,
~ node93(c_s,s3),
inference(resolution,[],['2422','2423']) ).
cnf('2425',plain,
( m_state_v_gvp(X,Y,c_ovb)
| ~ node97(X,Y) ),
inference(cnf_transformation,[],[m_Crane_34]) ).
cnf('2426',plain,
~ node97(c_s,s3),
inference(resolution,[],['2326','2425']) ).
cnf('2427',plain,
node105(c_s,s2,s3),
inference(resolution,[],['2265','175']) ).
cnf('2428',plain,
( ~ node105(X,Y,Z)
| ~ m_state_v_gvp(X,Y,c_sd)
| ~ m_state_v_CVM(X,Y,c_up)
| m_state_v_CHM(X,Z,c_tofeedbelt) ),
inference(cnf_transformation,[],[m_Crane_58]) ).
cnf('2429',plain,
( ~ m_state_v_gvp(c_s,s2,c_sd)
| ~ m_state_v_CVM(c_s,s2,c_up)
| m_state_v_CHM(c_s,s3,c_tofeedbelt) ),
inference(resolution,[],['2427','2428']) ).
cnf('2430',plain,
m_state_v_CHM(c_s,s3,c_tofeedbelt),
inference(resolution,[then_simplify],['2414','2429','2416']) ).
cnf('2431',plain,
( ~ m_state_v_CHM(X,Y,c_tofeedbelt)
| ~ m_state_v_CHM(X,Y,c_todepbelt) ),
inference(cnf_transformation,[],[m_state_14]) ).
cnf('2432',plain,
~ m_state_v_CHM(c_s,s3,c_todepbelt),
inference(resolution,[],['2430','2431']) ).
cnf('2433',plain,
~ node96(c_s,s3),
inference(resolution,[],['2432','2285']) ).
cnf('2434',plain,
~ node95(c_s,s3),
inference(resolution,[],['2359','2299']) ).
cnf('2435',plain,
~ node94(c_s,s3),
inference(resolution,[],['2359','2301']) ).
cnf('2436',plain,
~ node92(c_s,s3),
inference(resolution,[],['2326','2417']) ).
cnf('2437',plain,
( ~ node99(c_s,s3,X)
| node98(c_s,s3,X) ),
inference(resolution,[then_simplify],['2424','2259','2426','2433','2434','2435','2436']) ).
cnf('2438',plain,
node99(c_s,s3,s4),
inference(resolution,[],['2164','386']) ).
cnf('2439',plain,
node98(c_s,s3,s4),
inference(resolution,[],['2437','2438']) ).
cnf('2440',plain,
~ m_state_v_CVM(c_s,s3,c_down),
inference(resolution,[],['2421','2180']) ).
cnf('2441',plain,
( ~ node98(c_s,s3,X)
| ~ m_state_v_CVM(c_s,X,c_down) ),
inference(resolution,[],['2440','2308']) ).
cnf('2442',plain,
~ m_state_v_CVM(c_s,s4,c_down),
inference(resolution,[],['2439','2441']) ).
cnf('2443',plain,
~ node78(c_s,s4),
inference(resolution,[],['2442','2194']) ).
cnf('2444',plain,
node87(c_s,s3,s4),
inference(resolution,[],['2205','386']) ).
cnf('2445',plain,
( ~ node87(X,Y,Z)
| ~ m_state_v_gvp(X,Y,c_sd)
| ~ m_state_v_CVM(X,Y,c_idle)
| m_state_v_gripper_status(X,Z,c_gripperstoppedat_sd)
| node84(X,Y)
| node83(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_202]) ).
cnf('2446',plain,
( ~ m_state_v_CVM(c_s,s3,c_idle)
| ~ m_state_v_gvp(c_s,s3,c_sd)
| m_state_v_gripper_status(c_s,s4,c_gripperstoppedat_sd)
| node83(c_s,s3)
| node84(c_s,s3) ),
inference(resolution,[],['2444','2445']) ).
cnf('2447',plain,
m_state_v_gvp(c_s,s3,c_sd),
inference(resolution,[],['2215','2253']) ).
cnf('2448',plain,
~ node83(c_s,s3),
inference(resolution,[],['2326','2316']) ).
cnf('2449',plain,
~ node84(c_s,s3),
inference(resolution,[],['2322','2222']) ).
cnf('2450',plain,
m_state_v_gripper_status(c_s,s4,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['2421','2446','2447','2448','2449']) ).
cnf('2451',plain,
( ~ m_state_v_gripper_status(X,Y,c_gripperstoppedat_ovf)
| ~ m_state_v_gripper_status(X,Y,c_gripperstoppedat_sd) ),
inference(cnf_transformation,[],[m_state_67]) ).
cnf('2452',plain,
~ m_state_v_gripper_status(c_s,s4,c_gripperstoppedat_ovf),
inference(resolution,[],['2450','2451']) ).
cnf('2453',plain,
( m_state_v_gripper_status(X,Y,c_gripperstoppedat_ovf)
| ~ node80(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_182]) ).
cnf('2454',plain,
~ node80(c_s,s4),
inference(resolution,[],['2452','2453']) ).
cnf('2455',plain,
node82(c_s,s4,s5),
inference(resolution,[],['2187','601']) ).
cnf('2456',plain,
( node81(c_s,s4,s5)
| node77(c_s,s4)
| node78(c_s,s4)
| node79(c_s,s4)
| node80(c_s,s4) ),
inference(resolution,[],['2455','2189']) ).
cnf('2457',plain,
~ m_state_v_gripper_status(c_s,s4,c_gripperstoppedat_ovb),
inference(resolution,[],['2450','2235']) ).
cnf('2458',plain,
( m_state_v_gripper_status(X,Y,c_gripperstoppedat_ovb)
| ~ node77(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_173]) ).
cnf('2459',plain,
~ node77(c_s,s4),
inference(resolution,[],['2457','2458']) ).
cnf('2460',plain,
( m_state_v_gripper_status(X,Y,c_gripperstoppedat_ovf)
| ~ node79(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_179]) ).
cnf('2461',plain,
~ node79(c_s,s4),
inference(resolution,[],['2452','2460']) ).
cnf('2462',plain,
( node81(c_s,s4,s5)
| node78(c_s,s4) ),
inference(resolution,[then_simplify],['2454','2456','2459','2461']) ).
cnf('2463',plain,
node81(c_s,s4,s5),
inference(resolution,[],['2443','2462']) ).
cnf('2464',plain,
m_state_v_gvp(c_s,s5,c_sd),
inference(resolution,[],['2411','2463']) ).
cnf('2465',plain,
~ m_state_v_gvp(c_s,s5,c_ovf),
inference(resolution,[],['2464','2247']) ).
cnf('2466',plain,
~ node89(c_s,s5),
inference(resolution,[],['2465','2333']) ).
cnf('2467',plain,
( ~ node104(X,Y,Z)
| ~ m_state_v_CHM(X,Y,U)
| m_state_v_CHM(X,Z,U) ),
inference(cnf_transformation,[],[m_Crane_56]) ).
cnf('2468',plain,
( ~ node104(c_s,s3,X)
| m_state_v_CHM(c_s,X,c_tofeedbelt) ),
inference(resolution,[],['2430','2467']) ).
cnf('2469',plain,
~ node100(c_s,s3),
inference(resolution,[],['2422','2278']) ).
cnf('2470',plain,
~ node103(c_s,s3),
inference(resolution,[],['2432','2271']) ).
cnf('2471',plain,
~ node101(c_s,s3),
inference(resolution,[],['2359','2276']) ).
cnf('2472',plain,
node105(c_s,s3,s4),
inference(resolution,[],['2265','386']) ).
cnf('2473',plain,
( node104(c_s,s3,s4)
| node100(c_s,s3)
| node101(c_s,s3)
| node102(c_s,s3)
| node103(c_s,s3) ),
inference(resolution,[],['2472','2267']) ).
cnf('2474',plain,
( m_state_v_CMag(X,Y,c_off)
| ~ node102(X,Y) ),
inference(cnf_transformation,[],[m_Crane_53]) ).
cnf('2475',plain,
~ node102(c_s,s3),
inference(resolution,[],['2389','2474']) ).
cnf('2476',plain,
( node104(c_s,s3,s4)
| node100(c_s,s3)
| node101(c_s,s3)
| node103(c_s,s3) ),
inference(simplify,[],['2473','2475']) ).
cnf('2477',plain,
( node104(c_s,s3,s4)
| node100(c_s,s3)
| node103(c_s,s3) ),
inference(resolution,[],['2471','2476']) ).
cnf('2478',plain,
( node104(c_s,s3,s4)
| node100(c_s,s3) ),
inference(resolution,[],['2470','2477']) ).
cnf('2479',plain,
node104(c_s,s3,s4),
inference(resolution,[],['2469','2478']) ).
cnf('2480',plain,
m_state_v_CHM(c_s,s4,c_tofeedbelt),
inference(resolution,[],['2468','2479']) ).
cnf('2481',plain,
( node74(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_165]) ).
cnf('2482',plain,
( node74(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['2481','56','57']) ).
cnf('2483',plain,
node74(c_s,s4,s5),
inference(resolution,[],['2482','601']) ).
cnf('2484',plain,
( ~ node74(X0,X1,X2)
| ~ m_state_v_CHM(X0,X1,c_tofeedbelt)
| m_state_v_CHM(X0,X1,c_todepbelt)
| ~ m_state_v_gob(X0,X2) ),
inference(cnf_transformation,[],[m_Sensor_163]) ).
cnf('2485',plain,
( ~ m_state_v_CHM(X0,X1,c_tofeedbelt)
| ~ m_state_v_CHM(X0,X1,c_todepbelt) ),
inference(cnf_transformation,[],[m_state_14]) ).
cnf('2486',plain,
( ~ node74(X,Y,Z)
| ~ m_state_v_CHM(X,Y,c_tofeedbelt)
| ~ m_state_v_gob(X,Z) ),
inference(simplify,[],['2484','2485']) ).
cnf('2487',plain,
( ~ m_state_v_CHM(c_s,s4,c_tofeedbelt)
| ~ m_state_v_gob(c_s,s5) ),
inference(resolution,[],['2483','2486']) ).
cnf('2488',plain,
~ m_state_v_gob(c_s,s5),
inference(resolution,[],['2480','2487']) ).
cnf('2489',plain,
( ~ node88(X,Y)
| m_state_v_gob(X,Y) ),
inference(cnf_transformation,[],[m_Crane_1]) ).
cnf('2490',plain,
~ node88(c_s,s5),
inference(resolution,[],['2488','2489']) ).
cnf('2491',plain,
node91(c_s,s5,s6),
inference(resolution,[],['2365','704']) ).
cnf('2492',plain,
( node90(c_s,s5,s6)
| node88(c_s,s5)
| node89(c_s,s5) ),
inference(resolution,[],['2491','2367']) ).
cnf('2493',plain,
( node90(c_s,s5,s6)
| node89(c_s,s5) ),
inference(resolution,[],['2490','2492']) ).
cnf('2494',plain,
node90(c_s,s5,s6),
inference(resolution,[],['2466','2493']) ).
cnf('2495',plain,
m_state_v_CMag(c_s,s6,c_on),
inference(resolution,[],['2410','2494']) ).
cnf('2496',plain,
( ~ node90(c_s,s6,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['2495','2403']) ).
cnf('2497',plain,
( ~ node81(c_s,s5,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['2464','2200']) ).
cnf('2498',plain,
( ~ node98(c_s,s4,X)
| ~ m_state_v_CVM(c_s,X,c_down) ),
inference(resolution,[],['2442','2308']) ).
cnf('2499',plain,
( ~ node98(c_s,s3,X)
| ~ m_state_v_CVM(c_s,X,c_up) ),
inference(resolution,[],['2422','2308']) ).
cnf('2500',plain,
~ m_state_v_CVM(c_s,s4,c_up),
inference(resolution,[],['2439','2499']) ).
cnf('2501',plain,
~ node93(c_s,s4),
inference(resolution,[],['2500','2423']) ).
cnf('2502',plain,
node74(c_s,s3,s4),
inference(resolution,[],['2482','386']) ).
cnf('2503',plain,
( ~ m_state_v_CHM(c_s,s3,c_tofeedbelt)
| ~ m_state_v_gob(c_s,s4) ),
inference(resolution,[],['2502','2486']) ).
cnf('2504',plain,
~ m_state_v_gob(c_s,s4),
inference(resolution,[],['2430','2503']) ).
cnf('2505',plain,
( ~ node97(X,Y)
| m_state_v_gob(X,Y) ),
inference(cnf_transformation,[],[m_Crane_32]) ).
cnf('2506',plain,
~ node97(c_s,s4),
inference(resolution,[],['2504','2505']) ).
cnf('2507',plain,
( ~ node96(X,Y)
| m_state_v_gob(X,Y) ),
inference(cnf_transformation,[],[m_Crane_31]) ).
cnf('2508',plain,
~ node96(c_s,s4),
inference(resolution,[],['2504','2507']) ).
cnf('2509',plain,
( m_state_v_gvp(X,Y,c_ovf)
| ~ node95(X,Y) ),
inference(cnf_transformation,[],[m_Crane_28]) ).
cnf('2510',plain,
~ node95(c_s,s4),
inference(resolution,[],['2332','2509']) ).
cnf('2511',plain,
~ node13(c_s,s3),
inference(resolution,[],['1378','2159']) ).
cnf('2512',plain,
( m_state_v_CMag(X,Y,c_off)
| ~ node14(X,Y) ),
inference(cnf_transformation,[],[m_Communication_42]) ).
cnf('2513',plain,
~ node14(c_s,s3),
inference(resolution,[],['2389','2512']) ).
cnf('2514',plain,
node16(c_s,s3,s4),
inference(resolution,[],['2148','386']) ).
cnf('2515',plain,
( ~ node16(X,Y,Z)
| node15(X,Y,Z)
| node14(X,Y)
| node13(X,Y) ),
inference(cnf_transformation,[],[m_Communication_47]) ).
cnf('2516',plain,
( node15(c_s,s3,s4)
| node13(c_s,s3)
| node14(c_s,s3) ),
inference(resolution,[],['2514','2515']) ).
cnf('2517',plain,
( node15(c_s,s3,s4)
| node13(c_s,s3) ),
inference(resolution,[],['2513','2516']) ).
cnf('2518',plain,
node15(c_s,s3,s4),
inference(resolution,[],['2511','2517']) ).
cnf('2519',plain,
( ~ node15(X,Y,Z)
| ~ m_state_v_ff(X,Z)
| m_state_v_ff(X,Y) ),
inference(cnf_transformation,[],[m_Communication_44]) ).
cnf('2520',plain,
~ node13(c_s,s2),
inference(resolution,[],['1252','2159']) ).
cnf('2521',plain,
~ node14(c_s,s2),
inference(resolution,[],['2384','2512']) ).
cnf('2522',plain,
node16(c_s,s2,s3),
inference(resolution,[],['2148','175']) ).
cnf('2523',plain,
( node15(c_s,s2,s3)
| node13(c_s,s2)
| node14(c_s,s2) ),
inference(resolution,[],['2522','2515']) ).
cnf('2524',plain,
( node15(c_s,s2,s3)
| node13(c_s,s2) ),
inference(resolution,[],['2521','2523']) ).
cnf('2525',plain,
node15(c_s,s2,s3),
inference(resolution,[],['2520','2524']) ).
cnf('2526',plain,
~ node13(c_s,s1),
inference(resolution,[],['1244','2159']) ).
cnf('2527',plain,
node16(c_s,s1,s2),
inference(resolution,[],['2148','60']) ).
cnf('2528',plain,
( ~ node14(X,Y)
| m_state_v_gof(X,Y) ),
inference(cnf_transformation,[],[m_Communication_40]) ).
cnf('2529',plain,
~ node14(c_s,s1),
inference(resolution,[],['2298','2528']) ).
cnf('2530',plain,
( node15(c_s,s1,s2)
| node13(c_s,s1) ),
inference(resolution,[then_simplify],['2527','2515','2529']) ).
cnf('2531',plain,
node15(c_s,s1,s2),
inference(resolution,[],['2526','2530']) ).
cnf('2532',plain,
node16(c_s,s0,s1),
inference(resolution,[],['2148','7']) ).
cnf('2533',plain,
~ node14(X,s0),
inference(resolution,[],['2528','2274']) ).
cnf('2534',plain,
~ node13(X3,s0),
inference(resolution,[],['510','2159']) ).
cnf('2535',plain,
( ~ node16(X,s0,Y)
| node15(X,s0,Y) ),
inference(resolution,[then_simplify],['2515','2533','2534']) ).
cnf('2536',plain,
node15(c_s,s0,s1),
inference(resolution,[],['2532','2535']) ).
cnf('2537',plain,
~ m_state_v_ff(X,s0),
inference(cnf_transformation,[],[m_state_115]) ).
cnf('2538',plain,
( ~ node15(X,s0,Y)
| ~ m_state_v_ff(X,Y) ),
inference(resolution,[],['2519','2537']) ).
cnf('2539',plain,
~ m_state_v_ff(c_s,s1),
inference(resolution,[],['2536','2538']) ).
cnf('2540',plain,
~ m_state_v_ff(c_s,s2),
inference(resolution,[then_simplify],['2531','2519','2539']) ).
cnf('2541',plain,
~ m_state_v_ff(c_s,s3),
inference(resolution,[then_simplify],['2525','2519','2540']) ).
cnf('2542',plain,
~ m_state_v_ff(c_s,s4),
inference(resolution,[then_simplify],['2518','2519','2541']) ).
cnf('2543',plain,
( ~ node94(X,Y)
| m_state_v_ff(X,Y) ),
inference(cnf_transformation,[],[m_Crane_26]) ).
cnf('2544',plain,
~ node94(c_s,s4),
inference(resolution,[],['2542','2543']) ).
cnf('2545',plain,
~ m_state_v_gvp(c_s,s4,c_ovb),
inference(resolution,[],['2331','2176']) ).
cnf('2546',plain,
~ node92(c_s,s4),
inference(resolution,[],['2545','2417']) ).
cnf('2547',plain,
( ~ node99(c_s,s4,X)
| node98(c_s,s4,X) ),
inference(resolution,[then_simplify],['2501','2259','2506','2508','2510','2544','2546']) ).
cnf('2548',plain,
node99(c_s,s4,s5),
inference(resolution,[],['2164','601']) ).
cnf('2549',plain,
node98(c_s,s4,s5),
inference(resolution,[],['2547','2548']) ).
cnf('2550',plain,
~ m_state_v_CVM(c_s,s5,c_down),
inference(resolution,[],['2498','2549']) ).
cnf('2551',plain,
~ node78(c_s,s5),
inference(resolution,[],['2550','2194']) ).
cnf('2552',plain,
( ~ node98(c_s,s3,X)
| m_state_v_CVM(c_s,X,c_idle) ),
inference(resolution,[],['2421','2412']) ).
cnf('2553',plain,
m_state_v_CVM(c_s,s4,c_idle),
inference(resolution,[],['2439','2552']) ).
cnf('2554',plain,
node87(c_s,s4,s5),
inference(resolution,[],['2205','601']) ).
cnf('2555',plain,
( ~ m_state_v_CVM(c_s,s4,c_idle)
| ~ m_state_v_gvp(c_s,s4,c_sd)
| m_state_v_gripper_status(c_s,s5,c_gripperstoppedat_sd)
| node83(c_s,s4)
| node84(c_s,s4) ),
inference(resolution,[],['2554','2445']) ).
cnf('2556',plain,
m_state_v_gvp(c_s,s4,c_sd),
inference(resolution,[],['2255','2330']) ).
cnf('2557',plain,
~ node83(c_s,s4),
inference(resolution,[],['2545','2316']) ).
cnf('2558',plain,
~ node84(c_s,s4),
inference(resolution,[],['2332','2222']) ).
cnf('2559',plain,
m_state_v_gripper_status(c_s,s5,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['2553','2555','2556','2557','2558']) ).
cnf('2560',plain,
~ m_state_v_gripper_status(c_s,s5,c_gripperstoppedat_ovf),
inference(resolution,[],['2559','2451']) ).
cnf('2561',plain,
~ node80(c_s,s5),
inference(resolution,[],['2560','2453']) ).
cnf('2562',plain,
node82(c_s,s5,s6),
inference(resolution,[],['2187','704']) ).
cnf('2563',plain,
( node81(c_s,s5,s6)
| node77(c_s,s5)
| node78(c_s,s5)
| node79(c_s,s5)
| node80(c_s,s5) ),
inference(resolution,[],['2562','2189']) ).
cnf('2564',plain,
~ m_state_v_gripper_status(c_s,s5,c_gripperstoppedat_ovb),
inference(resolution,[],['2559','2235']) ).
cnf('2565',plain,
~ node77(c_s,s5),
inference(resolution,[],['2564','2458']) ).
cnf('2566',plain,
~ node79(c_s,s5),
inference(resolution,[],['2560','2460']) ).
cnf('2567',plain,
( node81(c_s,s5,s6)
| node78(c_s,s5) ),
inference(resolution,[then_simplify],['2561','2563','2565','2566']) ).
cnf('2568',plain,
node81(c_s,s5,s6),
inference(resolution,[],['2551','2567']) ).
cnf('2569',plain,
m_state_v_gvp(c_s,s6,c_sd),
inference(resolution,[],['2497','2568']) ).
cnf('2570',plain,
~ m_state_v_gvp(c_s,s6,c_ovf),
inference(resolution,[],['2569','2247']) ).
cnf('2571',plain,
~ node89(c_s,s6),
inference(resolution,[],['2570','2333']) ).
cnf('2572',plain,
~ node100(c_s,s4),
inference(resolution,[],['2500','2278']) ).
cnf('2573',plain,
node105(c_s,s4,s5),
inference(resolution,[],['2265','601']) ).
cnf('2574',plain,
( ~ node105(X,Y,Z)
| ~ m_state_v_CHM(X,Y,c_tofeedbelt)
| m_state_v_CHM(X,Z,c_idle)
| ~ m_state_v_gof(X,Y)
| node100(X,Y) ),
inference(cnf_transformation,[],[m_Crane_59]) ).
cnf('2575',plain,
( ~ m_state_v_CHM(c_s,s4,c_tofeedbelt)
| ~ m_state_v_gof(c_s,s4)
| m_state_v_CHM(c_s,s5,c_idle)
| node100(c_s,s4) ),
inference(resolution,[],['2573','2574']) ).
cnf('2576',plain,
node76(c_s,s3,s4),
inference(resolution,[],['2288','386']) ).
cnf('2577',plain,
( ~ node76(X,Y,Z)
| ~ m_state_v_CHM(X,Y,c_tofeedbelt)
| m_state_v_gof(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_168]) ).
cnf('2578',plain,
( ~ m_state_v_CHM(c_s,s3,c_tofeedbelt)
| m_state_v_gof(c_s,s4) ),
inference(resolution,[],['2576','2577']) ).
cnf('2579',plain,
m_state_v_gof(c_s,s4),
inference(resolution,[],['2430','2578']) ).
cnf('2580',plain,
( m_state_v_CHM(c_s,s5,c_idle)
| node100(c_s,s4) ),
inference(resolution,[then_simplify],['2480','2575','2579']) ).
cnf('2581',plain,
m_state_v_CHM(c_s,s5,c_idle),
inference(resolution,[],['2572','2580']) ).
cnf('2582',plain,
~ m_state_v_CHM(c_s,s5,c_tofeedbelt),
inference(resolution,[],['2581','2291']) ).
cnf('2583',plain,
node74(c_s,s5,s6),
inference(resolution,[],['2482','704']) ).
cnf('2584',plain,
( ~ node74(X,Y,Z)
| node73(X,Y,Z)
| m_state_v_CHM(X,Y,c_tofeedbelt)
| m_state_v_CHM(X,Y,c_todepbelt) ),
inference(cnf_transformation,[],[m_Sensor_164]) ).
cnf('2585',plain,
( node73(c_s,s5,s6)
| m_state_v_CHM(c_s,s5,c_todepbelt)
| m_state_v_CHM(c_s,s5,c_tofeedbelt) ),
inference(resolution,[],['2583','2584']) ).
cnf('2586',plain,
~ m_state_v_CHM(c_s,s5,c_todepbelt),
inference(resolution,[],['2581','2268']) ).
cnf('2587',plain,
node73(c_s,s5,s6),
inference(resolution,[then_simplify],['2582','2585','2586']) ).
cnf('2588',plain,
( ~ node73(X,Y,Z)
| ~ m_state_v_gob(X,Z)
| m_state_v_gob(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_161]) ).
cnf('2589',plain,
~ m_state_v_gob(c_s,s5),
inference(resolution,[],['2480','2487']) ).
cnf('2590',plain,
~ m_state_v_gob(c_s,s6),
inference(resolution,[then_simplify],['2587','2588','2589']) ).
cnf('2591',plain,
~ node88(c_s,s6),
inference(resolution,[],['2590','2489']) ).
cnf('2592',plain,
node91(c_s,s6,s7),
inference(resolution,[],['2365','949']) ).
cnf('2593',plain,
( node90(c_s,s6,s7)
| node88(c_s,s6)
| node89(c_s,s6) ),
inference(resolution,[],['2592','2367']) ).
cnf('2594',plain,
( node90(c_s,s6,s7)
| node89(c_s,s6) ),
inference(resolution,[],['2591','2593']) ).
cnf('2595',plain,
node90(c_s,s6,s7),
inference(resolution,[],['2571','2594']) ).
cnf('2596',plain,
m_state_v_CMag(c_s,s7,c_on),
inference(resolution,[],['2496','2595']) ).
cnf('2597',plain,
~ m_state_v_CMag(c_s,s7,c_off),
inference(resolution,[],['2596','2168']) ).
cnf('2598',plain,
~ node14(c_s,s7),
inference(resolution,[],['2597','2512']) ).
cnf('2599',plain,
node16(c_s,s7,s8),
inference(resolution,[],['2148','1099']) ).
cnf('2600',plain,
( node15(c_s,s7,s8)
| node13(c_s,s7)
| node14(c_s,s7) ),
inference(resolution,[],['2599','2515']) ).
cnf('2601',plain,
( node15(c_s,s7,s8)
| node13(c_s,s7) ),
inference(resolution,[],['2598','2600']) ).
cnf('2602',plain,
node15(c_s,s7,s8),
inference(resolution,[],['2160','2601']) ).
cnf('2603',plain,
~ node13(c_s,s6),
inference(resolution,[],['1397','2159']) ).
cnf('2604',plain,
~ m_state_v_CMag(c_s,s6,c_off),
inference(resolution,[],['2495','2168']) ).
cnf('2605',plain,
~ node14(c_s,s6),
inference(resolution,[],['2604','2512']) ).
cnf('2606',plain,
node16(c_s,s6,s7),
inference(resolution,[],['2148','949']) ).
cnf('2607',plain,
( node15(c_s,s6,s7)
| node13(c_s,s6)
| node14(c_s,s6) ),
inference(resolution,[],['2606','2515']) ).
cnf('2608',plain,
( node15(c_s,s6,s7)
| node13(c_s,s6) ),
inference(resolution,[],['2605','2607']) ).
cnf('2609',plain,
node15(c_s,s6,s7),
inference(resolution,[],['2603','2608']) ).
cnf('2610',plain,
( ~ node90(c_s,s4,X)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2396','2375']) ).
cnf('2611',plain,
~ m_state_v_CMag(c_s,s5,c_off),
inference(resolution,[],['2401','2610']) ).
cnf('2612',plain,
~ node14(c_s,s5),
inference(resolution,[],['2611','2512']) ).
cnf('2613',plain,
~ node13(c_s,s5),
inference(resolution,[],['1392','2159']) ).
cnf('2614',plain,
node16(c_s,s5,s6),
inference(resolution,[],['2148','704']) ).
cnf('2615',plain,
( node15(c_s,s5,s6)
| node13(c_s,s5)
| node14(c_s,s5) ),
inference(resolution,[],['2614','2515']) ).
cnf('2616',plain,
( node15(c_s,s5,s6)
| node14(c_s,s5) ),
inference(resolution,[],['2613','2615']) ).
cnf('2617',plain,
node15(c_s,s5,s6),
inference(resolution,[],['2612','2616']) ).
cnf('2618',plain,
~ node13(c_s,s4),
inference(resolution,[],['1385','2159']) ).
cnf('2619',plain,
~ node14(c_s,s4),
inference(resolution,[],['2396','2512']) ).
cnf('2620',plain,
node16(c_s,s4,s5),
inference(resolution,[],['2148','601']) ).
cnf('2621',plain,
( node15(c_s,s4,s5)
| node13(c_s,s4)
| node14(c_s,s4) ),
inference(resolution,[],['2620','2515']) ).
cnf('2622',plain,
( node15(c_s,s4,s5)
| node13(c_s,s4) ),
inference(resolution,[],['2619','2621']) ).
cnf('2623',plain,
node15(c_s,s4,s5),
inference(resolution,[],['2618','2622']) ).
cnf('2624',plain,
~ m_state_v_ff(c_s,s4),
inference(resolution,[then_simplify],['2518','2519','2541']) ).
cnf('2625',plain,
~ m_state_v_ff(c_s,s5),
inference(resolution,[then_simplify],['2623','2519','2624']) ).
cnf('2626',plain,
~ m_state_v_ff(c_s,s6),
inference(resolution,[then_simplify],['2617','2519','2625']) ).
cnf('2627',plain,
~ m_state_v_ff(c_s,s7),
inference(resolution,[then_simplify],['2609','2519','2626']) ).
cnf('2628',plain,
~ m_state_v_ff(c_s,s8),
inference(resolution,[then_simplify],['2602','2519','2627']) ).
cnf('2629',plain,
~ node94(c_s,s8),
inference(resolution,[],['2628','2543']) ).
cnf('2630',plain,
~ m_state_v_ff(c_s,s7),
inference(resolution,[then_simplify],['2609','2519','2626']) ).
cnf('2631',plain,
~ node94(c_s,s7),
inference(resolution,[],['2630','2543']) ).
cnf('2632',plain,
( ~ node98(c_s,s4,X)
| ~ m_state_v_CVM(c_s,X,c_up) ),
inference(resolution,[],['2500','2308']) ).
cnf('2633',plain,
~ m_state_v_CVM(c_s,s5,c_up),
inference(resolution,[],['2549','2632']) ).
cnf('2634',plain,
~ node93(c_s,s5),
inference(resolution,[],['2633','2423']) ).
cnf('2635',plain,
~ node97(c_s,s5),
inference(resolution,[],['2488','2505']) ).
cnf('2636',plain,
~ node96(c_s,s5),
inference(resolution,[],['2488','2507']) ).
cnf('2637',plain,
~ node95(c_s,s5),
inference(resolution,[],['2465','2509']) ).
cnf('2638',plain,
~ m_state_v_ff(c_s,s5),
inference(resolution,[then_simplify],['2623','2519','2624']) ).
cnf('2639',plain,
~ node94(c_s,s5),
inference(resolution,[],['2638','2543']) ).
cnf('2640',plain,
~ m_state_v_gvp(c_s,s5,c_ovb),
inference(resolution,[],['2464','2176']) ).
cnf('2641',plain,
~ node92(c_s,s5),
inference(resolution,[],['2640','2417']) ).
cnf('2642',plain,
( ~ node99(c_s,s5,X)
| node98(c_s,s5,X) ),
inference(resolution,[then_simplify],['2634','2259','2635','2636','2637','2639','2641']) ).
cnf('2643',plain,
node99(c_s,s5,s6),
inference(resolution,[],['2164','704']) ).
cnf('2644',plain,
node98(c_s,s5,s6),
inference(resolution,[],['2642','2643']) ).
cnf('2645',plain,
( ~ node98(c_s,s5,X)
| ~ m_state_v_CVM(c_s,X,c_up) ),
inference(resolution,[],['2633','2308']) ).
cnf('2646',plain,
~ m_state_v_CVM(c_s,s6,c_up),
inference(resolution,[],['2644','2645']) ).
cnf('2647',plain,
~ node93(c_s,s6),
inference(resolution,[],['2646','2423']) ).
cnf('2648',plain,
~ node97(c_s,s6),
inference(resolution,[],['2590','2505']) ).
cnf('2649',plain,
~ node96(c_s,s6),
inference(resolution,[],['2590','2507']) ).
cnf('2650',plain,
~ node95(c_s,s6),
inference(resolution,[],['2570','2509']) ).
cnf('2651',plain,
~ m_state_v_ff(c_s,s6),
inference(resolution,[then_simplify],['2617','2519','2625']) ).
cnf('2652',plain,
~ node94(c_s,s6),
inference(resolution,[],['2651','2543']) ).
cnf('2653',plain,
~ m_state_v_gvp(c_s,s6,c_ovb),
inference(resolution,[],['2569','2176']) ).
cnf('2654',plain,
~ node92(c_s,s6),
inference(resolution,[],['2653','2417']) ).
cnf('2655',plain,
( ~ node99(c_s,s6,X)
| node98(c_s,s6,X) ),
inference(resolution,[then_simplify],['2647','2259','2648','2649','2650','2652','2654']) ).
cnf('2656',plain,
node99(c_s,s6,s7),
inference(resolution,[],['2164','949']) ).
cnf('2657',plain,
node98(c_s,s6,s7),
inference(resolution,[],['2655','2656']) ).
cnf('2658',plain,
( ~ node98(c_s,s6,X)
| ~ m_state_v_CVM(c_s,X,c_up) ),
inference(resolution,[],['2646','2308']) ).
cnf('2659',plain,
~ m_state_v_CVM(c_s,s7,c_up),
inference(resolution,[],['2657','2658']) ).
cnf('2660',plain,
~ node93(c_s,s7),
inference(resolution,[],['2659','2423']) ).
cnf('2661',plain,
( ~ node104(c_s,s5,X)
| m_state_v_CHM(c_s,X,c_idle) ),
inference(resolution,[],['2581','2467']) ).
cnf('2662',plain,
~ node100(c_s,s5),
inference(resolution,[],['2633','2278']) ).
cnf('2663',plain,
( m_state_v_CHM(X,Y,c_tofeedbelt)
| ~ node101(X,Y) ),
inference(cnf_transformation,[],[m_Crane_47]) ).
cnf('2664',plain,
~ node101(c_s,s5),
inference(resolution,[],['2582','2663']) ).
cnf('2665',plain,
node105(c_s,s5,s6),
inference(resolution,[],['2265','704']) ).
cnf('2666',plain,
( node104(c_s,s5,s6)
| node100(c_s,s5)
| node101(c_s,s5)
| node102(c_s,s5)
| node103(c_s,s5) ),
inference(resolution,[],['2665','2267']) ).
cnf('2667',plain,
~ node102(c_s,s5),
inference(resolution,[],['2611','2474']) ).
cnf('2668',plain,
( ~ node103(X,Y)
| m_state_v_gob(X,Y) ),
inference(cnf_transformation,[],[m_Crane_55]) ).
cnf('2669',plain,
~ node103(c_s,s5),
inference(resolution,[],['2488','2668']) ).
cnf('2670',plain,
( node104(c_s,s5,s6)
| node100(c_s,s5) ),
inference(resolution,[then_simplify],['2664','2666','2667','2669']) ).
cnf('2671',plain,
node104(c_s,s5,s6),
inference(resolution,[],['2662','2670']) ).
cnf('2672',plain,
m_state_v_CHM(c_s,s6,c_idle),
inference(resolution,[],['2661','2671']) ).
cnf('2673',plain,
~ m_state_v_CHM(c_s,s6,c_tofeedbelt),
inference(resolution,[],['2672','2291']) ).
cnf('2674',plain,
node74(c_s,s6,s7),
inference(resolution,[],['2482','949']) ).
cnf('2675',plain,
( node73(c_s,s6,s7)
| m_state_v_CHM(c_s,s6,c_todepbelt)
| m_state_v_CHM(c_s,s6,c_tofeedbelt) ),
inference(resolution,[],['2674','2584']) ).
cnf('2676',plain,
~ m_state_v_CHM(c_s,s6,c_todepbelt),
inference(resolution,[],['2672','2268']) ).
cnf('2677',plain,
node73(c_s,s6,s7),
inference(resolution,[then_simplify],['2673','2675','2676']) ).
cnf('2678',plain,
~ m_state_v_gob(c_s,s6),
inference(resolution,[then_simplify],['2587','2588','2589']) ).
cnf('2679',plain,
~ m_state_v_gob(c_s,s7),
inference(resolution,[then_simplify],['2677','2588','2678']) ).
cnf('2680',plain,
~ node97(c_s,s7),
inference(resolution,[],['2679','2505']) ).
cnf('2681',plain,
~ node96(c_s,s7),
inference(resolution,[],['2679','2507']) ).
cnf('2682',plain,
( ~ node81(c_s,s6,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['2569','2200']) ).
cnf('2683',plain,
( ~ node98(c_s,s5,X)
| ~ m_state_v_CVM(c_s,X,c_down) ),
inference(resolution,[],['2550','2308']) ).
cnf('2684',plain,
~ m_state_v_CVM(c_s,s6,c_down),
inference(resolution,[],['2683','2644']) ).
cnf('2685',plain,
~ node78(c_s,s6),
inference(resolution,[],['2684','2194']) ).
cnf('2686',plain,
~ m_state_v_CVM(c_s,s5,c_up),
inference(resolution,[],['2549','2632']) ).
cnf('2687',plain,
m_state_v_CVM(c_s,s5,c_idle),
inference(resolution,[then_simplify],['2550','2179','2686']) ).
cnf('2688',plain,
node87(c_s,s5,s6),
inference(resolution,[],['2205','704']) ).
cnf('2689',plain,
( ~ m_state_v_CVM(c_s,s5,c_idle)
| ~ m_state_v_gvp(c_s,s5,c_sd)
| m_state_v_gripper_status(c_s,s6,c_gripperstoppedat_sd)
| node83(c_s,s5)
| node84(c_s,s5) ),
inference(resolution,[],['2688','2445']) ).
cnf('2690',plain,
m_state_v_gvp(c_s,s5,c_sd),
inference(resolution,[],['2411','2463']) ).
cnf('2691',plain,
~ node83(c_s,s5),
inference(resolution,[],['2640','2316']) ).
cnf('2692',plain,
~ node84(c_s,s5),
inference(resolution,[],['2465','2222']) ).
cnf('2693',plain,
m_state_v_gripper_status(c_s,s6,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['2687','2689','2690','2691','2692']) ).
cnf('2694',plain,
~ m_state_v_gripper_status(c_s,s6,c_gripperstoppedat_ovf),
inference(resolution,[],['2693','2451']) ).
cnf('2695',plain,
~ node80(c_s,s6),
inference(resolution,[],['2694','2453']) ).
cnf('2696',plain,
node82(c_s,s6,s7),
inference(resolution,[],['2187','949']) ).
cnf('2697',plain,
( node81(c_s,s6,s7)
| node77(c_s,s6)
| node78(c_s,s6)
| node79(c_s,s6)
| node80(c_s,s6) ),
inference(resolution,[],['2696','2189']) ).
cnf('2698',plain,
~ m_state_v_gripper_status(c_s,s6,c_gripperstoppedat_ovb),
inference(resolution,[],['2693','2235']) ).
cnf('2699',plain,
~ node77(c_s,s6),
inference(resolution,[],['2698','2458']) ).
cnf('2700',plain,
~ node79(c_s,s6),
inference(resolution,[],['2694','2460']) ).
cnf('2701',plain,
( node81(c_s,s6,s7)
| node78(c_s,s6) ),
inference(resolution,[then_simplify],['2695','2697','2699','2700']) ).
cnf('2702',plain,
node81(c_s,s6,s7),
inference(resolution,[],['2685','2701']) ).
cnf('2703',plain,
m_state_v_gvp(c_s,s7,c_sd),
inference(resolution,[],['2682','2702']) ).
cnf('2704',plain,
~ m_state_v_gvp(c_s,s7,c_ovf),
inference(resolution,[],['2703','2247']) ).
cnf('2705',plain,
~ node95(c_s,s7),
inference(resolution,[],['2704','2509']) ).
cnf('2706',plain,
~ m_state_v_gvp(c_s,s7,c_ovb),
inference(resolution,[],['2703','2176']) ).
cnf('2707',plain,
~ node92(c_s,s7),
inference(resolution,[],['2706','2417']) ).
cnf('2708',plain,
( node94(c_s,s7)
| ~ node99(c_s,s7,X)
| node98(c_s,s7,X) ),
inference(resolution,[then_simplify],['2660','2259','2680','2681','2705','2707']) ).
cnf('2709',plain,
node99(c_s,s7,s8),
inference(resolution,[],['2164','1099']) ).
cnf('2710',plain,
( node98(c_s,s7,s8)
| node94(c_s,s7) ),
inference(resolution,[],['2708','2709']) ).
cnf('2711',plain,
node98(c_s,s7,s8),
inference(resolution,[],['2631','2710']) ).
cnf('2712',plain,
( ~ node98(c_s,s7,X)
| ~ m_state_v_CVM(c_s,X,c_up) ),
inference(resolution,[],['2659','2308']) ).
cnf('2713',plain,
~ m_state_v_CVM(c_s,s8,c_up),
inference(resolution,[],['2711','2712']) ).
cnf('2714',plain,
~ node93(c_s,s8),
inference(resolution,[],['2713','2423']) ).
cnf('2715',plain,
( ~ node81(c_s,s7,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['2703','2200']) ).
cnf('2716',plain,
( ~ node98(c_s,s6,X)
| ~ m_state_v_CVM(c_s,X,c_down) ),
inference(resolution,[],['2684','2308']) ).
cnf('2717',plain,
~ m_state_v_CVM(c_s,s7,c_down),
inference(resolution,[],['2716','2657']) ).
cnf('2718',plain,
~ node78(c_s,s7),
inference(resolution,[],['2717','2194']) ).
cnf('2719',plain,
~ m_state_v_CVM(c_s,s6,c_up),
inference(resolution,[],['2644','2645']) ).
cnf('2720',plain,
m_state_v_CVM(c_s,s6,c_idle),
inference(resolution,[then_simplify],['2684','2179','2719']) ).
cnf('2721',plain,
node87(c_s,s6,s7),
inference(resolution,[],['2205','949']) ).
cnf('2722',plain,
( ~ m_state_v_CVM(c_s,s6,c_idle)
| ~ m_state_v_gvp(c_s,s6,c_sd)
| m_state_v_gripper_status(c_s,s7,c_gripperstoppedat_sd)
| node83(c_s,s6)
| node84(c_s,s6) ),
inference(resolution,[],['2721','2445']) ).
cnf('2723',plain,
m_state_v_gvp(c_s,s6,c_sd),
inference(resolution,[],['2497','2568']) ).
cnf('2724',plain,
~ node83(c_s,s6),
inference(resolution,[],['2653','2316']) ).
cnf('2725',plain,
~ node84(c_s,s6),
inference(resolution,[],['2570','2222']) ).
cnf('2726',plain,
m_state_v_gripper_status(c_s,s7,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['2720','2722','2723','2724','2725']) ).
cnf('2727',plain,
~ m_state_v_gripper_status(c_s,s7,c_gripperstoppedat_ovf),
inference(resolution,[],['2726','2451']) ).
cnf('2728',plain,
~ node80(c_s,s7),
inference(resolution,[],['2727','2453']) ).
cnf('2729',plain,
node82(c_s,s7,s8),
inference(resolution,[],['2187','1099']) ).
cnf('2730',plain,
( node81(c_s,s7,s8)
| node77(c_s,s7)
| node78(c_s,s7)
| node79(c_s,s7)
| node80(c_s,s7) ),
inference(resolution,[],['2729','2189']) ).
cnf('2731',plain,
~ m_state_v_gripper_status(c_s,s7,c_gripperstoppedat_ovb),
inference(resolution,[],['2726','2235']) ).
cnf('2732',plain,
~ node77(c_s,s7),
inference(resolution,[],['2731','2458']) ).
cnf('2733',plain,
~ node79(c_s,s7),
inference(resolution,[],['2727','2460']) ).
cnf('2734',plain,
( node81(c_s,s7,s8)
| node78(c_s,s7) ),
inference(resolution,[then_simplify],['2728','2730','2732','2733']) ).
cnf('2735',plain,
node81(c_s,s7,s8),
inference(resolution,[],['2718','2734']) ).
cnf('2736',plain,
m_state_v_gvp(c_s,s8,c_sd),
inference(resolution,[],['2715','2735']) ).
cnf('2737',plain,
~ m_state_v_gvp(c_s,s8,c_ovf),
inference(resolution,[],['2736','2247']) ).
cnf('2738',plain,
~ node95(c_s,s8),
inference(resolution,[],['2737','2509']) ).
cnf('2739',plain,
( ~ node104(c_s,s6,X)
| m_state_v_CHM(c_s,X,c_idle) ),
inference(resolution,[],['2672','2467']) ).
cnf('2740',plain,
~ node100(c_s,s6),
inference(resolution,[],['2646','2278']) ).
cnf('2741',plain,
~ node101(c_s,s6),
inference(resolution,[],['2673','2663']) ).
cnf('2742',plain,
node105(c_s,s6,s7),
inference(resolution,[],['2265','949']) ).
cnf('2743',plain,
( node104(c_s,s6,s7)
| node100(c_s,s6)
| node101(c_s,s6)
| node102(c_s,s6)
| node103(c_s,s6) ),
inference(resolution,[],['2742','2267']) ).
cnf('2744',plain,
~ node102(c_s,s6),
inference(resolution,[],['2604','2474']) ).
cnf('2745',plain,
~ node103(c_s,s6),
inference(resolution,[],['2590','2668']) ).
cnf('2746',plain,
( node104(c_s,s6,s7)
| node100(c_s,s6) ),
inference(resolution,[then_simplify],['2741','2743','2744','2745']) ).
cnf('2747',plain,
node104(c_s,s6,s7),
inference(resolution,[],['2740','2746']) ).
cnf('2748',plain,
m_state_v_CHM(c_s,s7,c_idle),
inference(resolution,[],['2739','2747']) ).
cnf('2749',plain,
~ m_state_v_CHM(c_s,s7,c_tofeedbelt),
inference(resolution,[],['2748','2291']) ).
cnf('2750',plain,
node74(c_s,s7,s8),
inference(resolution,[],['2482','1099']) ).
cnf('2751',plain,
( node73(c_s,s7,s8)
| m_state_v_CHM(c_s,s7,c_todepbelt)
| m_state_v_CHM(c_s,s7,c_tofeedbelt) ),
inference(resolution,[],['2750','2584']) ).
cnf('2752',plain,
~ m_state_v_CHM(c_s,s7,c_todepbelt),
inference(resolution,[],['2748','2268']) ).
cnf('2753',plain,
node73(c_s,s7,s8),
inference(resolution,[then_simplify],['2749','2751','2752']) ).
cnf('2754',plain,
~ m_state_v_gob(c_s,s7),
inference(resolution,[then_simplify],['2677','2588','2678']) ).
cnf('2755',plain,
~ m_state_v_gob(c_s,s8),
inference(resolution,[then_simplify],['2753','2588','2754']) ).
cnf('2756',plain,
~ node97(c_s,s8),
inference(resolution,[],['2755','2505']) ).
cnf('2757',plain,
~ node96(c_s,s8),
inference(resolution,[],['2755','2507']) ).
cnf('2758',plain,
~ m_state_v_gvp(c_s,s8,c_ovb),
inference(resolution,[],['2736','2176']) ).
cnf('2759',plain,
~ node92(c_s,s8),
inference(resolution,[],['2758','2417']) ).
cnf('2760',plain,
( node93(c_s,s8)
| node94(c_s,s8)
| ~ node99(c_s,s8,X)
| node98(c_s,s8,X) ),
inference(resolution,[then_simplify],['2738','2259','2756','2757','2759']) ).
cnf('2761',plain,
node99(c_s,s8,s9),
inference(resolution,[],['2164','1110']) ).
cnf('2762',plain,
( node98(c_s,s8,s9)
| node93(c_s,s8)
| node94(c_s,s8) ),
inference(resolution,[],['2760','2761']) ).
cnf('2763',plain,
( node98(c_s,s8,s9)
| node94(c_s,s8) ),
inference(resolution,[],['2714','2762']) ).
cnf('2764',plain,
node98(c_s,s8,s9),
inference(resolution,[],['2629','2763']) ).
cnf('2765',plain,
( ~ node98(c_s,s7,X)
| ~ m_state_v_CVM(c_s,X,c_down) ),
inference(resolution,[],['2717','2308']) ).
cnf('2766',plain,
~ m_state_v_CVM(c_s,s8,c_down),
inference(resolution,[],['2711','2765']) ).
cnf('2767',plain,
( ~ node98(c_s,s8,X)
| ~ m_state_v_CVM(c_s,X,c_down) ),
inference(resolution,[],['2766','2308']) ).
cnf('2768',plain,
~ m_state_v_CVM(c_s,s9,c_down),
inference(resolution,[],['2764','2767']) ).
cnf('2769',plain,
~ node78(c_s,s9),
inference(resolution,[],['2768','2194']) ).
cnf('2770',plain,
~ m_state_v_CVM(c_s,s7,c_up),
inference(resolution,[],['2657','2658']) ).
cnf('2771',plain,
m_state_v_CVM(c_s,s7,c_idle),
inference(resolution,[then_simplify],['2717','2179','2770']) ).
cnf('2772',plain,
( ~ node98(c_s,s7,X)
| m_state_v_CVM(c_s,X,c_idle) ),
inference(resolution,[],['2771','2412']) ).
cnf('2773',plain,
m_state_v_CVM(c_s,s8,c_idle),
inference(resolution,[],['2711','2772']) ).
cnf('2774',plain,
~ node84(c_s,s8),
inference(resolution,[],['2737','2222']) ).
cnf('2775',plain,
node87(c_s,s8,s9),
inference(resolution,[],['2205','1110']) ).
cnf('2776',plain,
( ~ m_state_v_CVM(c_s,s8,c_idle)
| ~ m_state_v_gvp(c_s,s8,c_sd)
| m_state_v_gripper_status(c_s,s9,c_gripperstoppedat_sd)
| node83(c_s,s8)
| node84(c_s,s8) ),
inference(resolution,[],['2775','2445']) ).
cnf('2777',plain,
m_state_v_gvp(c_s,s8,c_sd),
inference(resolution,[],['2715','2735']) ).
cnf('2778',plain,
~ node83(c_s,s8),
inference(resolution,[],['2758','2316']) ).
cnf('2779',plain,
( ~ m_state_v_CVM(c_s,s8,c_idle)
| m_state_v_gripper_status(c_s,s9,c_gripperstoppedat_sd) ),
inference(resolution,[then_simplify],['2774','2776','2777','2778']) ).
cnf('2780',plain,
m_state_v_gripper_status(c_s,s9,c_gripperstoppedat_sd),
inference(resolution,[],['2773','2779']) ).
cnf('2781',plain,
~ m_state_v_gripper_status(c_s,s9,c_gripperstoppedat_ovf),
inference(resolution,[],['2780','2451']) ).
cnf('2782',plain,
~ node80(c_s,s9),
inference(resolution,[],['2781','2453']) ).
cnf('2783',plain,
node82(c_s,s9,s10),
inference(resolution,[],['2187','1214']) ).
cnf('2784',plain,
( node81(c_s,s9,s10)
| node77(c_s,s9)
| node78(c_s,s9)
| node79(c_s,s9)
| node80(c_s,s9) ),
inference(resolution,[],['2783','2189']) ).
cnf('2785',plain,
~ m_state_v_gripper_status(c_s,s9,c_gripperstoppedat_ovb),
inference(resolution,[],['2780','2235']) ).
cnf('2786',plain,
~ node77(c_s,s9),
inference(resolution,[],['2785','2458']) ).
cnf('2787',plain,
~ node79(c_s,s9),
inference(resolution,[],['2781','2460']) ).
cnf('2788',plain,
( node81(c_s,s9,s10)
| node78(c_s,s9) ),
inference(resolution,[then_simplify],['2782','2784','2786','2787']) ).
cnf('2789',plain,
node81(c_s,s9,s10),
inference(resolution,[],['2769','2788']) ).
cnf('2790',plain,
~ node78(c_s,s8),
inference(resolution,[],['2766','2194']) ).
cnf('2791',plain,
node87(c_s,s7,s8),
inference(resolution,[],['2205','1099']) ).
cnf('2792',plain,
( ~ m_state_v_CVM(c_s,s7,c_idle)
| ~ m_state_v_gvp(c_s,s7,c_sd)
| m_state_v_gripper_status(c_s,s8,c_gripperstoppedat_sd)
| node83(c_s,s7)
| node84(c_s,s7) ),
inference(resolution,[],['2791','2445']) ).
cnf('2793',plain,
m_state_v_gvp(c_s,s7,c_sd),
inference(resolution,[],['2682','2702']) ).
cnf('2794',plain,
~ node83(c_s,s7),
inference(resolution,[],['2706','2316']) ).
cnf('2795',plain,
~ node84(c_s,s7),
inference(resolution,[],['2704','2222']) ).
cnf('2796',plain,
m_state_v_gripper_status(c_s,s8,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['2771','2792','2793','2794','2795']) ).
cnf('2797',plain,
~ m_state_v_gripper_status(c_s,s8,c_gripperstoppedat_ovf),
inference(resolution,[],['2796','2451']) ).
cnf('2798',plain,
~ node80(c_s,s8),
inference(resolution,[],['2797','2453']) ).
cnf('2799',plain,
node82(c_s,s8,s9),
inference(resolution,[],['2187','1110']) ).
cnf('2800',plain,
( node81(c_s,s8,s9)
| node77(c_s,s8)
| node78(c_s,s8)
| node79(c_s,s8)
| node80(c_s,s8) ),
inference(resolution,[],['2799','2189']) ).
cnf('2801',plain,
~ m_state_v_gripper_status(c_s,s8,c_gripperstoppedat_ovb),
inference(resolution,[],['2796','2235']) ).
cnf('2802',plain,
~ node77(c_s,s8),
inference(resolution,[],['2801','2458']) ).
cnf('2803',plain,
~ node79(c_s,s8),
inference(resolution,[],['2797','2460']) ).
cnf('2804',plain,
( node81(c_s,s8,s9)
| node78(c_s,s8) ),
inference(resolution,[then_simplify],['2798','2800','2802','2803']) ).
cnf('2805',plain,
node81(c_s,s8,s9),
inference(resolution,[],['2790','2804']) ).
cnf('2806',plain,
( ~ node81(c_s,s8,X)
| ~ m_state_v_gvp(c_s,X,c_ovf) ),
inference(resolution,[],['2737','2219']) ).
cnf('2807',plain,
~ m_state_v_gvp(c_s,s9,c_ovf),
inference(resolution,[],['2805','2806']) ).
cnf('2808',plain,
( ~ node81(c_s,s9,X)
| ~ m_state_v_gvp(c_s,X,c_ovf) ),
inference(resolution,[],['2807','2219']) ).
cnf('2809',plain,
~ m_state_v_gvp(c_s,s10,c_ovf),
inference(resolution,[],['2789','2808']) ).
cnf('2810',plain,
~ node89(c_s,s10),
inference(resolution,[],['2809','2333']) ).
cnf('2811',plain,
~ node100(c_s,s8),
inference(resolution,[],['2713','2278']) ).
cnf('2812',plain,
( ~ node104(c_s,s7,X)
| m_state_v_CHM(c_s,X,c_idle) ),
inference(resolution,[],['2748','2467']) ).
cnf('2813',plain,
~ node100(c_s,s7),
inference(resolution,[],['2659','2278']) ).
cnf('2814',plain,
~ node101(c_s,s7),
inference(resolution,[],['2749','2663']) ).
cnf('2815',plain,
node105(c_s,s7,s8),
inference(resolution,[],['2265','1099']) ).
cnf('2816',plain,
( node104(c_s,s7,s8)
| node100(c_s,s7)
| node101(c_s,s7)
| node102(c_s,s7)
| node103(c_s,s7) ),
inference(resolution,[],['2815','2267']) ).
cnf('2817',plain,
~ node102(c_s,s7),
inference(resolution,[],['2597','2474']) ).
cnf('2818',plain,
~ node103(c_s,s7),
inference(resolution,[],['2679','2668']) ).
cnf('2819',plain,
( node104(c_s,s7,s8)
| node100(c_s,s7) ),
inference(resolution,[then_simplify],['2814','2816','2817','2818']) ).
cnf('2820',plain,
node104(c_s,s7,s8),
inference(resolution,[],['2813','2819']) ).
cnf('2821',plain,
m_state_v_CHM(c_s,s8,c_idle),
inference(resolution,[],['2812','2820']) ).
cnf('2822',plain,
~ m_state_v_CHM(c_s,s8,c_tofeedbelt),
inference(resolution,[],['2821','2291']) ).
cnf('2823',plain,
~ node101(c_s,s8),
inference(resolution,[],['2822','2663']) ).
cnf('2824',plain,
node105(c_s,s8,s9),
inference(resolution,[],['2265','1110']) ).
cnf('2825',plain,
( node104(c_s,s8,s9)
| node100(c_s,s8)
| node101(c_s,s8)
| node102(c_s,s8)
| node103(c_s,s8) ),
inference(resolution,[],['2824','2267']) ).
cnf('2826',plain,
( ~ node90(c_s,s7,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['2596','2403']) ).
cnf('2827',plain,
~ node89(c_s,s7),
inference(resolution,[],['2704','2333']) ).
cnf('2828',plain,
~ node88(c_s,s7),
inference(resolution,[],['2679','2489']) ).
cnf('2829',plain,
node91(c_s,s7,s8),
inference(resolution,[],['2365','1099']) ).
cnf('2830',plain,
( node90(c_s,s7,s8)
| node88(c_s,s7)
| node89(c_s,s7) ),
inference(resolution,[],['2829','2367']) ).
cnf('2831',plain,
( node90(c_s,s7,s8)
| node89(c_s,s7) ),
inference(resolution,[],['2828','2830']) ).
cnf('2832',plain,
node90(c_s,s7,s8),
inference(resolution,[],['2827','2831']) ).
cnf('2833',plain,
m_state_v_CMag(c_s,s8,c_on),
inference(resolution,[],['2826','2832']) ).
cnf('2834',plain,
~ m_state_v_CMag(c_s,s8,c_off),
inference(resolution,[],['2833','2168']) ).
cnf('2835',plain,
~ node102(c_s,s8),
inference(resolution,[],['2834','2474']) ).
cnf('2836',plain,
~ node103(c_s,s8),
inference(resolution,[],['2755','2668']) ).
cnf('2837',plain,
( node104(c_s,s8,s9)
| node100(c_s,s8) ),
inference(resolution,[then_simplify],['2823','2825','2835','2836']) ).
cnf('2838',plain,
node104(c_s,s8,s9),
inference(resolution,[],['2811','2837']) ).
cnf('2839',plain,
~ m_state_v_CHM(c_s,s8,c_todepbelt),
inference(resolution,[],['2821','2268']) ).
cnf('2840',plain,
( ~ node104(c_s,s8,X)
| ~ m_state_v_CHM(c_s,X,c_todepbelt) ),
inference(resolution,[],['2839','2282']) ).
cnf('2841',plain,
~ m_state_v_CHM(c_s,s9,c_todepbelt),
inference(resolution,[],['2838','2840']) ).
cnf('2842',plain,
node74(c_s,s9,s10),
inference(resolution,[],['2482','1214']) ).
cnf('2843',plain,
( node73(c_s,s9,s10)
| m_state_v_CHM(c_s,s9,c_todepbelt)
| m_state_v_CHM(c_s,s9,c_tofeedbelt) ),
inference(resolution,[],['2842','2584']) ).
cnf('2844',plain,
( ~ node104(c_s,s8,X)
| ~ m_state_v_CHM(c_s,X,c_tofeedbelt) ),
inference(resolution,[],['2822','2282']) ).
cnf('2845',plain,
~ m_state_v_CHM(c_s,s9,c_tofeedbelt),
inference(resolution,[],['2838','2844']) ).
cnf('2846',plain,
node73(c_s,s9,s10),
inference(resolution,[then_simplify],['2841','2843','2845']) ).
cnf('2847',plain,
node74(c_s,s8,s9),
inference(resolution,[],['2482','1110']) ).
cnf('2848',plain,
( node73(c_s,s8,s9)
| m_state_v_CHM(c_s,s8,c_todepbelt)
| m_state_v_CHM(c_s,s8,c_tofeedbelt) ),
inference(resolution,[],['2847','2584']) ).
cnf('2849',plain,
~ m_state_v_CHM(c_s,s8,c_todepbelt),
inference(resolution,[],['2821','2268']) ).
cnf('2850',plain,
node73(c_s,s8,s9),
inference(resolution,[then_simplify],['2822','2848','2849']) ).
cnf('2851',plain,
~ m_state_v_gob(c_s,s8),
inference(resolution,[then_simplify],['2753','2588','2754']) ).
cnf('2852',plain,
~ m_state_v_gob(c_s,s9),
inference(resolution,[then_simplify],['2850','2588','2851']) ).
cnf('2853',plain,
~ m_state_v_gob(c_s,s10),
inference(resolution,[then_simplify],['2846','2588','2852']) ).
cnf('2854',plain,
~ node88(c_s,s10),
inference(resolution,[],['2853','2489']) ).
cnf('2855',plain,
node91(c_s,s10,s11),
inference(resolution,[],['2365','1610']) ).
cnf('2856',plain,
( node90(c_s,s10,s11)
| node88(c_s,s10)
| node89(c_s,s10) ),
inference(resolution,[],['2855','2367']) ).
cnf('2857',plain,
( node90(c_s,s10,s11)
| node89(c_s,s10) ),
inference(resolution,[],['2854','2856']) ).
cnf('2858',plain,
node90(c_s,s10,s11),
inference(resolution,[],['2810','2857']) ).
cnf('2859',plain,
~ node89(c_s,s9),
inference(resolution,[],['2807','2333']) ).
cnf('2860',plain,
~ m_state_v_gob(c_s,s9),
inference(resolution,[then_simplify],['2850','2588','2851']) ).
cnf('2861',plain,
~ node88(c_s,s9),
inference(resolution,[],['2860','2489']) ).
cnf('2862',plain,
node91(c_s,s9,s10),
inference(resolution,[],['2365','1214']) ).
cnf('2863',plain,
( node90(c_s,s9,s10)
| node88(c_s,s9)
| node89(c_s,s9) ),
inference(resolution,[],['2862','2367']) ).
cnf('2864',plain,
( node90(c_s,s9,s10)
| node89(c_s,s9) ),
inference(resolution,[],['2861','2863']) ).
cnf('2865',plain,
node90(c_s,s9,s10),
inference(resolution,[],['2859','2864']) ).
cnf('2866',plain,
( ~ node90(c_s,s8,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['2833','2403']) ).
cnf('2867',plain,
~ node89(c_s,s8),
inference(resolution,[],['2737','2333']) ).
cnf('2868',plain,
~ node88(c_s,s8),
inference(resolution,[],['2755','2489']) ).
cnf('2869',plain,
node91(c_s,s8,s9),
inference(resolution,[],['2365','1110']) ).
cnf('2870',plain,
( node90(c_s,s8,s9)
| node88(c_s,s8)
| node89(c_s,s8) ),
inference(resolution,[],['2869','2367']) ).
cnf('2871',plain,
( node90(c_s,s8,s9)
| node89(c_s,s8) ),
inference(resolution,[],['2868','2870']) ).
cnf('2872',plain,
node90(c_s,s8,s9),
inference(resolution,[],['2867','2871']) ).
cnf('2873',plain,
m_state_v_CMag(c_s,s9,c_on),
inference(resolution,[],['2866','2872']) ).
cnf('2874',plain,
( ~ node90(c_s,s9,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['2873','2403']) ).
cnf('2875',plain,
m_state_v_CMag(c_s,s10,c_on),
inference(resolution,[],['2865','2874']) ).
cnf('2876',plain,
( ~ node90(c_s,s10,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['2875','2403']) ).
cnf('2877',plain,
m_state_v_CMag(c_s,s11,c_on),
inference(resolution,[],['2858','2876']) ).
cnf('2878',plain,
( ~ node90(c_s,s11,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['2877','2403']) ).
cnf('2879',plain,
( ~ node81(c_s,s8,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['2736','2200']) ).
cnf('2880',plain,
m_state_v_gvp(c_s,s9,c_sd),
inference(resolution,[],['2805','2879']) ).
cnf('2881',plain,
( ~ node81(c_s,s9,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['2880','2200']) ).
cnf('2882',plain,
m_state_v_gvp(c_s,s10,c_sd),
inference(resolution,[],['2789','2881']) ).
cnf('2883',plain,
( ~ node81(c_s,s10,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['2882','2200']) ).
cnf('2884',plain,
( ~ node98(c_s,s9,X)
| ~ m_state_v_CVM(c_s,X,c_down) ),
inference(resolution,[],['2768','2308']) ).
cnf('2885',plain,
~ node13(c_s,s8),
inference(resolution,[],['1450','2159']) ).
cnf('2886',plain,
~ node14(c_s,s8),
inference(resolution,[],['2834','2512']) ).
cnf('2887',plain,
node16(c_s,s8,s9),
inference(resolution,[],['2148','1110']) ).
cnf('2888',plain,
( node15(c_s,s8,s9)
| node13(c_s,s8)
| node14(c_s,s8) ),
inference(resolution,[],['2887','2515']) ).
cnf('2889',plain,
( node15(c_s,s8,s9)
| node13(c_s,s8) ),
inference(resolution,[],['2886','2888']) ).
cnf('2890',plain,
node15(c_s,s8,s9),
inference(resolution,[],['2885','2889']) ).
cnf('2891',plain,
~ m_state_v_ff(c_s,s8),
inference(resolution,[then_simplify],['2602','2519','2627']) ).
cnf('2892',plain,
~ m_state_v_ff(c_s,s9),
inference(resolution,[then_simplify],['2890','2519','2891']) ).
cnf('2893',plain,
~ node94(c_s,s9),
inference(resolution,[],['2892','2543']) ).
cnf('2894',plain,
( ~ node98(c_s,s8,X)
| ~ m_state_v_CVM(c_s,X,c_up) ),
inference(resolution,[],['2713','2308']) ).
cnf('2895',plain,
~ m_state_v_CVM(c_s,s9,c_up),
inference(resolution,[],['2764','2894']) ).
cnf('2896',plain,
~ node93(c_s,s9),
inference(resolution,[],['2895','2423']) ).
cnf('2897',plain,
( ~ node81(c_s,s8,X)
| ~ m_state_v_gvp(c_s,X,c_ovb) ),
inference(resolution,[],['2758','2219']) ).
cnf('2898',plain,
~ m_state_v_gvp(c_s,s9,c_ovb),
inference(resolution,[],['2805','2897']) ).
cnf('2899',plain,
~ node92(c_s,s9),
inference(resolution,[],['2898','2417']) ).
cnf('2900',plain,
~ node97(c_s,s9),
inference(resolution,[],['2860','2505']) ).
cnf('2901',plain,
~ node96(c_s,s9),
inference(resolution,[],['2860','2507']) ).
cnf('2902',plain,
( node92(c_s,s9)
| node93(c_s,s9)
| node94(c_s,s9)
| node95(c_s,s9)
| ~ node99(c_s,s9,X)
| node98(c_s,s9,X) ),
inference(resolution,[then_simplify],['2900','2259','2901']) ).
cnf('2903',plain,
node99(c_s,s9,s10),
inference(resolution,[],['2164','1214']) ).
cnf('2904',plain,
( node98(c_s,s9,s10)
| node92(c_s,s9)
| node93(c_s,s9)
| node94(c_s,s9)
| node95(c_s,s9) ),
inference(resolution,[],['2902','2903']) ).
cnf('2905',plain,
~ node95(c_s,s9),
inference(resolution,[],['2807','2509']) ).
cnf('2906',plain,
( node98(c_s,s9,s10)
| node93(c_s,s9)
| node94(c_s,s9) ),
inference(resolution,[then_simplify],['2899','2904','2905']) ).
cnf('2907',plain,
( node98(c_s,s9,s10)
| node94(c_s,s9) ),
inference(resolution,[],['2896','2906']) ).
cnf('2908',plain,
node98(c_s,s9,s10),
inference(resolution,[],['2893','2907']) ).
cnf('2909',plain,
~ m_state_v_CVM(c_s,s10,c_down),
inference(resolution,[],['2884','2908']) ).
cnf('2910',plain,
~ node78(c_s,s10),
inference(resolution,[],['2909','2194']) ).
cnf('2911',plain,
~ node80(c_s,s10),
inference(resolution,[],['2809','2251']) ).
cnf('2912',plain,
node82(c_s,s10,s11),
inference(resolution,[],['2187','1610']) ).
cnf('2913',plain,
( node81(c_s,s10,s11)
| node77(c_s,s10)
| node78(c_s,s10)
| node79(c_s,s10)
| node80(c_s,s10) ),
inference(resolution,[],['2912','2189']) ).
cnf('2914',plain,
( ~ node81(c_s,s9,X)
| ~ m_state_v_gvp(c_s,X,c_ovb) ),
inference(resolution,[],['2898','2219']) ).
cnf('2915',plain,
~ m_state_v_gvp(c_s,s10,c_ovb),
inference(resolution,[],['2789','2914']) ).
cnf('2916',plain,
~ node77(c_s,s10),
inference(resolution,[],['2915','2245']) ).
cnf('2917',plain,
~ node79(c_s,s10),
inference(resolution,[],['2809','2249']) ).
cnf('2918',plain,
( node81(c_s,s10,s11)
| node78(c_s,s10) ),
inference(resolution,[then_simplify],['2911','2913','2916','2917']) ).
cnf('2919',plain,
node81(c_s,s10,s11),
inference(resolution,[],['2910','2918']) ).
cnf('2920',plain,
m_state_v_gvp(c_s,s11,c_sd),
inference(resolution,[],['2883','2919']) ).
cnf('2921',plain,
~ m_state_v_gvp(c_s,s11,c_ovf),
inference(resolution,[],['2920','2247']) ).
cnf('2922',plain,
~ node89(c_s,s11),
inference(resolution,[],['2921','2333']) ).
cnf('2923',plain,
~ node100(c_s,s9),
inference(resolution,[],['2895','2278']) ).
cnf('2924',plain,
~ m_state_v_CHM(c_s,s9,c_tofeedbelt),
inference(resolution,[],['2838','2844']) ).
cnf('2925',plain,
~ node101(c_s,s9),
inference(resolution,[],['2924','2663']) ).
cnf('2926',plain,
~ m_state_v_CMag(c_s,s9,c_off),
inference(resolution,[],['2873','2168']) ).
cnf('2927',plain,
~ node102(c_s,s9),
inference(resolution,[],['2926','2474']) ).
cnf('2928',plain,
node105(c_s,s9,s10),
inference(resolution,[],['2265','1214']) ).
cnf('2929',plain,
( node104(c_s,s9,s10)
| node100(c_s,s9)
| node101(c_s,s9)
| node102(c_s,s9)
| node103(c_s,s9) ),
inference(resolution,[],['2928','2267']) ).
cnf('2930',plain,
~ node103(c_s,s9),
inference(resolution,[],['2860','2668']) ).
cnf('2931',plain,
( node104(c_s,s9,s10)
| node100(c_s,s9)
| node101(c_s,s9) ),
inference(resolution,[then_simplify],['2927','2929','2930']) ).
cnf('2932',plain,
( node104(c_s,s9,s10)
| node100(c_s,s9) ),
inference(resolution,[],['2925','2931']) ).
cnf('2933',plain,
node104(c_s,s9,s10),
inference(resolution,[],['2923','2932']) ).
cnf('2934',plain,
( ~ node104(c_s,s9,X)
| ~ m_state_v_CHM(c_s,X,c_tofeedbelt) ),
inference(resolution,[],['2924','2282']) ).
cnf('2935',plain,
~ m_state_v_CHM(c_s,s10,c_tofeedbelt),
inference(resolution,[],['2933','2934']) ).
cnf('2936',plain,
node74(c_s,s10,s11),
inference(resolution,[],['2482','1610']) ).
cnf('2937',plain,
( node73(c_s,s10,s11)
| m_state_v_CHM(c_s,s10,c_todepbelt)
| m_state_v_CHM(c_s,s10,c_tofeedbelt) ),
inference(resolution,[],['2936','2584']) ).
cnf('2938',plain,
( ~ node104(c_s,s9,X)
| ~ m_state_v_CHM(c_s,X,c_todepbelt) ),
inference(resolution,[],['2841','2282']) ).
cnf('2939',plain,
~ m_state_v_CHM(c_s,s10,c_todepbelt),
inference(resolution,[],['2933','2938']) ).
cnf('2940',plain,
node73(c_s,s10,s11),
inference(resolution,[then_simplify],['2935','2937','2939']) ).
cnf('2941',plain,
~ m_state_v_gob(c_s,s10),
inference(resolution,[then_simplify],['2846','2588','2852']) ).
cnf('2942',plain,
~ m_state_v_gob(c_s,s11),
inference(resolution,[then_simplify],['2940','2588','2941']) ).
cnf('2943',plain,
~ node88(c_s,s11),
inference(resolution,[],['2942','2489']) ).
cnf('2944',plain,
node91(c_s,s11,s12),
inference(resolution,[],['2365','1940']) ).
cnf('2945',plain,
( node90(c_s,s11,s12)
| node88(c_s,s11)
| node89(c_s,s11) ),
inference(resolution,[],['2944','2367']) ).
cnf('2946',plain,
( node90(c_s,s11,s12)
| node89(c_s,s11) ),
inference(resolution,[],['2943','2945']) ).
cnf('2947',plain,
node90(c_s,s11,s12),
inference(resolution,[],['2922','2946']) ).
cnf('2948',plain,
m_state_v_CMag(c_s,s12,c_on),
inference(resolution,[],['2878','2947']) ).
cnf('2949',plain,
( ~ node90(c_s,s12,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['2948','2403']) ).
cnf('2950',plain,
( ~ node81(c_s,s11,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['2920','2200']) ).
cnf('2951',plain,
( ~ node98(c_s,s10,X)
| ~ m_state_v_CVM(c_s,X,c_down) ),
inference(resolution,[],['2909','2308']) ).
cnf('2952',plain,
~ node13(c_s,s9),
inference(resolution,[],['1490','2159']) ).
cnf('2953',plain,
~ node14(c_s,s9),
inference(resolution,[],['2926','2512']) ).
cnf('2954',plain,
node16(c_s,s9,s10),
inference(resolution,[],['2148','1214']) ).
cnf('2955',plain,
( node15(c_s,s9,s10)
| node13(c_s,s9)
| node14(c_s,s9) ),
inference(resolution,[],['2954','2515']) ).
cnf('2956',plain,
( node15(c_s,s9,s10)
| node13(c_s,s9) ),
inference(resolution,[],['2953','2955']) ).
cnf('2957',plain,
node15(c_s,s9,s10),
inference(resolution,[],['2952','2956']) ).
cnf('2958',plain,
~ m_state_v_ff(c_s,s9),
inference(resolution,[then_simplify],['2890','2519','2891']) ).
cnf('2959',plain,
~ m_state_v_ff(c_s,s10),
inference(resolution,[then_simplify],['2957','2519','2958']) ).
cnf('2960',plain,
~ node94(c_s,s10),
inference(resolution,[],['2959','2543']) ).
cnf('2961',plain,
( ~ node98(c_s,s9,X)
| ~ m_state_v_CVM(c_s,X,c_up) ),
inference(resolution,[],['2895','2308']) ).
cnf('2962',plain,
~ m_state_v_CVM(c_s,s10,c_up),
inference(resolution,[],['2961','2908']) ).
cnf('2963',plain,
~ node93(c_s,s10),
inference(resolution,[],['2962','2423']) ).
cnf('2964',plain,
~ node97(c_s,s10),
inference(resolution,[],['2853','2505']) ).
cnf('2965',plain,
node99(c_s,s10,s11),
inference(resolution,[],['2164','1610']) ).
cnf('2966',plain,
( node98(c_s,s10,s11)
| node92(c_s,s10)
| node93(c_s,s10)
| node94(c_s,s10)
| node95(c_s,s10)
| node96(c_s,s10)
| node97(c_s,s10) ),
inference(resolution,[],['2965','2259']) ).
cnf('2967',plain,
~ node96(c_s,s10),
inference(resolution,[],['2853','2507']) ).
cnf('2968',plain,
( node98(c_s,s10,s11)
| node92(c_s,s10)
| node93(c_s,s10)
| node94(c_s,s10)
| node95(c_s,s10) ),
inference(resolution,[then_simplify],['2964','2966','2967']) ).
cnf('2969',plain,
~ node92(c_s,s10),
inference(resolution,[],['2915','2417']) ).
cnf('2970',plain,
~ node95(c_s,s10),
inference(resolution,[],['2809','2509']) ).
cnf('2971',plain,
( node98(c_s,s10,s11)
| node94(c_s,s10) ),
inference(resolution,[then_simplify],['2963','2968','2969','2970']) ).
cnf('2972',plain,
node98(c_s,s10,s11),
inference(resolution,[],['2960','2971']) ).
cnf('2973',plain,
~ m_state_v_CVM(c_s,s11,c_down),
inference(resolution,[],['2951','2972']) ).
cnf('2974',plain,
~ node78(c_s,s11),
inference(resolution,[],['2973','2194']) ).
cnf('2975',plain,
~ m_state_v_CVM(c_s,s10,c_up),
inference(resolution,[],['2961','2908']) ).
cnf('2976',plain,
m_state_v_CVM(c_s,s10,c_idle),
inference(resolution,[then_simplify],['2909','2179','2975']) ).
cnf('2977',plain,
node87(c_s,s10,s11),
inference(resolution,[],['2205','1610']) ).
cnf('2978',plain,
( ~ m_state_v_CVM(c_s,s10,c_idle)
| ~ m_state_v_gvp(c_s,s10,c_sd)
| m_state_v_gripper_status(c_s,s11,c_gripperstoppedat_sd)
| node83(c_s,s10)
| node84(c_s,s10) ),
inference(resolution,[],['2977','2445']) ).
cnf('2979',plain,
m_state_v_gvp(c_s,s10,c_sd),
inference(resolution,[],['2789','2881']) ).
cnf('2980',plain,
~ node83(c_s,s10),
inference(resolution,[],['2915','2316']) ).
cnf('2981',plain,
~ node84(c_s,s10),
inference(resolution,[],['2809','2222']) ).
cnf('2982',plain,
m_state_v_gripper_status(c_s,s11,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['2976','2978','2979','2980','2981']) ).
cnf('2983',plain,
~ m_state_v_gripper_status(c_s,s11,c_gripperstoppedat_ovf),
inference(resolution,[],['2982','2451']) ).
cnf('2984',plain,
~ node80(c_s,s11),
inference(resolution,[],['2983','2453']) ).
cnf('2985',plain,
node82(c_s,s11,s12),
inference(resolution,[],['2187','1940']) ).
cnf('2986',plain,
( node81(c_s,s11,s12)
| node77(c_s,s11)
| node78(c_s,s11)
| node79(c_s,s11)
| node80(c_s,s11) ),
inference(resolution,[],['2985','2189']) ).
cnf('2987',plain,
~ m_state_v_gripper_status(c_s,s11,c_gripperstoppedat_ovb),
inference(resolution,[],['2982','2235']) ).
cnf('2988',plain,
~ node77(c_s,s11),
inference(resolution,[],['2987','2458']) ).
cnf('2989',plain,
~ node79(c_s,s11),
inference(resolution,[],['2983','2460']) ).
cnf('2990',plain,
( node81(c_s,s11,s12)
| node78(c_s,s11) ),
inference(resolution,[then_simplify],['2984','2986','2988','2989']) ).
cnf('2991',plain,
node81(c_s,s11,s12),
inference(resolution,[],['2974','2990']) ).
cnf('2992',plain,
m_state_v_gvp(c_s,s12,c_sd),
inference(resolution,[],['2950','2991']) ).
cnf('2993',plain,
~ m_state_v_gvp(c_s,s12,c_ovf),
inference(resolution,[],['2992','2247']) ).
cnf('2994',plain,
~ node89(c_s,s12),
inference(resolution,[],['2993','2333']) ).
cnf('2995',plain,
( ~ node104(c_s,s8,X)
| m_state_v_CHM(c_s,X,c_idle) ),
inference(resolution,[],['2821','2467']) ).
cnf('2996',plain,
m_state_v_CHM(c_s,s9,c_idle),
inference(resolution,[],['2838','2995']) ).
cnf('2997',plain,
( ~ node104(c_s,s9,X)
| m_state_v_CHM(c_s,X,c_idle) ),
inference(resolution,[],['2996','2467']) ).
cnf('2998',plain,
m_state_v_CHM(c_s,s10,c_idle),
inference(resolution,[],['2933','2997']) ).
cnf('2999',plain,
( ~ node104(c_s,s10,X)
| m_state_v_CHM(c_s,X,c_idle) ),
inference(resolution,[],['2998','2467']) ).
cnf('3000',plain,
~ node100(c_s,s10),
inference(resolution,[],['2962','2278']) ).
cnf('3001',plain,
~ node101(c_s,s10),
inference(resolution,[],['2935','2663']) ).
cnf('3002',plain,
( ~ node90(c_s,s9,X)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2926','2375']) ).
cnf('3003',plain,
~ m_state_v_CMag(c_s,s10,c_off),
inference(resolution,[],['2865','3002']) ).
cnf('3004',plain,
~ node102(c_s,s10),
inference(resolution,[],['3003','2474']) ).
cnf('3005',plain,
node105(c_s,s10,s11),
inference(resolution,[],['2265','1610']) ).
cnf('3006',plain,
( node104(c_s,s10,s11)
| node100(c_s,s10)
| node101(c_s,s10)
| node102(c_s,s10)
| node103(c_s,s10) ),
inference(resolution,[],['3005','2267']) ).
cnf('3007',plain,
~ node103(c_s,s10),
inference(resolution,[],['2853','2668']) ).
cnf('3008',plain,
( node104(c_s,s10,s11)
| node100(c_s,s10)
| node101(c_s,s10) ),
inference(resolution,[then_simplify],['3004','3006','3007']) ).
cnf('3009',plain,
( node104(c_s,s10,s11)
| node100(c_s,s10) ),
inference(resolution,[],['3001','3008']) ).
cnf('3010',plain,
node104(c_s,s10,s11),
inference(resolution,[],['3000','3009']) ).
cnf('3011',plain,
m_state_v_CHM(c_s,s11,c_idle),
inference(resolution,[],['2999','3010']) ).
cnf('3012',plain,
~ m_state_v_CHM(c_s,s11,c_tofeedbelt),
inference(resolution,[],['3011','2291']) ).
cnf('3013',plain,
node74(c_s,s11,s12),
inference(resolution,[],['2482','1940']) ).
cnf('3014',plain,
( node73(c_s,s11,s12)
| m_state_v_CHM(c_s,s11,c_todepbelt)
| m_state_v_CHM(c_s,s11,c_tofeedbelt) ),
inference(resolution,[],['3013','2584']) ).
cnf('3015',plain,
~ m_state_v_CHM(c_s,s11,c_todepbelt),
inference(resolution,[],['3011','2268']) ).
cnf('3016',plain,
node73(c_s,s11,s12),
inference(resolution,[then_simplify],['3012','3014','3015']) ).
cnf('3017',plain,
~ m_state_v_gob(c_s,s11),
inference(resolution,[then_simplify],['2940','2588','2941']) ).
cnf('3018',plain,
~ m_state_v_gob(c_s,s12),
inference(resolution,[then_simplify],['3016','2588','3017']) ).
cnf('3019',plain,
~ node88(c_s,s12),
inference(resolution,[],['3018','2489']) ).
cnf('3020',plain,
node91(c_s,s12,s13),
inference(resolution,[],['2365','2036']) ).
cnf('3021',plain,
( node90(c_s,s12,s13)
| node88(c_s,s12)
| node89(c_s,s12) ),
inference(resolution,[],['3020','2367']) ).
cnf('3022',plain,
( node90(c_s,s12,s13)
| node89(c_s,s12) ),
inference(resolution,[],['3019','3021']) ).
cnf('3023',plain,
node90(c_s,s12,s13),
inference(resolution,[],['2994','3022']) ).
cnf('3024',plain,
m_state_v_CMag(c_s,s13,c_on),
inference(resolution,[],['2949','3023']) ).
cnf('3025',plain,
~ m_state_v_CMag(c_s,s13,c_off),
inference(resolution,[],['3024','2168']) ).
cnf('3026',plain,
~ node14(c_s,s13),
inference(resolution,[],['3025','2512']) ).
cnf('3027',plain,
node16(c_s,s13,s14),
inference(resolution,[],['2148','2062']) ).
cnf('3028',plain,
( node15(c_s,s13,s14)
| node13(c_s,s13)
| node14(c_s,s13) ),
inference(resolution,[],['3027','2515']) ).
cnf('3029',plain,
( node15(c_s,s13,s14)
| node13(c_s,s13) ),
inference(resolution,[],['3026','3028']) ).
cnf('3030',plain,
node15(c_s,s13,s14),
inference(resolution,[],['2158','3029']) ).
cnf('3031',plain,
( ~ node13(X,Y)
| ~ m_state_v_deliv(X,Y) ),
inference(cnf_transformation,[],[m_Communication_36]) ).
cnf('3032',plain,
~ node13(c_s,s12),
inference(resolution,[],['2044','3031']) ).
cnf('3033',plain,
~ m_state_v_CMag(c_s,s12,c_off),
inference(resolution,[],['2948','2168']) ).
cnf('3034',plain,
~ node14(c_s,s12),
inference(resolution,[],['3033','2512']) ).
cnf('3035',plain,
node16(c_s,s12,s13),
inference(resolution,[],['2148','2036']) ).
cnf('3036',plain,
( node15(c_s,s12,s13)
| node13(c_s,s12)
| node14(c_s,s12) ),
inference(resolution,[],['3035','2515']) ).
cnf('3037',plain,
( node15(c_s,s12,s13)
| node13(c_s,s12) ),
inference(resolution,[],['3034','3036']) ).
cnf('3038',plain,
node15(c_s,s12,s13),
inference(resolution,[],['3032','3037']) ).
cnf('3039',plain,
~ node13(c_s,s11),
inference(resolution,[],['2027','2159']) ).
cnf('3040',plain,
( ~ node90(c_s,s10,X)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3003','2375']) ).
cnf('3041',plain,
~ m_state_v_CMag(c_s,s11,c_off),
inference(resolution,[],['2858','3040']) ).
cnf('3042',plain,
~ node14(c_s,s11),
inference(resolution,[],['3041','2512']) ).
cnf('3043',plain,
node16(c_s,s11,s12),
inference(resolution,[],['2148','1940']) ).
cnf('3044',plain,
( node15(c_s,s11,s12)
| node13(c_s,s11)
| node14(c_s,s11) ),
inference(resolution,[],['3043','2515']) ).
cnf('3045',plain,
( node15(c_s,s11,s12)
| node13(c_s,s11) ),
inference(resolution,[],['3042','3044']) ).
cnf('3046',plain,
node15(c_s,s11,s12),
inference(resolution,[],['3039','3045']) ).
cnf('3047',plain,
~ node13(c_s,s10),
inference(resolution,[],['1976','2159']) ).
cnf('3048',plain,
~ node14(c_s,s10),
inference(resolution,[],['3003','2512']) ).
cnf('3049',plain,
node16(c_s,s10,s11),
inference(resolution,[],['2148','1610']) ).
cnf('3050',plain,
( node15(c_s,s10,s11)
| node13(c_s,s10)
| node14(c_s,s10) ),
inference(resolution,[],['3049','2515']) ).
cnf('3051',plain,
( node15(c_s,s10,s11)
| node13(c_s,s10) ),
inference(resolution,[],['3048','3050']) ).
cnf('3052',plain,
node15(c_s,s10,s11),
inference(resolution,[],['3047','3051']) ).
cnf('3053',plain,
~ m_state_v_ff(c_s,s10),
inference(resolution,[then_simplify],['2957','2519','2958']) ).
cnf('3054',plain,
~ m_state_v_ff(c_s,s11),
inference(resolution,[then_simplify],['3052','2519','3053']) ).
cnf('3055',plain,
~ m_state_v_ff(c_s,s12),
inference(resolution,[then_simplify],['3046','2519','3054']) ).
cnf('3056',plain,
~ m_state_v_ff(c_s,s13),
inference(resolution,[then_simplify],['3038','2519','3055']) ).
cnf('3057',plain,
~ m_state_v_ff(c_s,s14),
inference(resolution,[then_simplify],['3030','2519','3056']) ).
cnf('3058',plain,
( ~ m_state_v_FBM(c_s,s14,c_on)
| m_state_v_pfl(c_s,s15) ),
inference(resolution,[then_simplify],['2137','2156','3057']) ).
cnf('3059',plain,
m_state_v_pfl(c_s,s15),
inference(resolution,[],['2067','3058']) ).
cnf('3060',plain,
( ~ m_state_v_FBM(c_s,s15,c_on)
| m_state_v_ff(c_s,s16) ),
inference(resolution,[then_simplify],['2146','2153','3059']) ).
cnf('3061',plain,
m_state_v_ff(c_s,s16),
inference(resolution,[],['2126','3060']) ).
cnf('3062',plain,
~ m_state_v_ff(c_s,s12),
inference(resolution,[then_simplify],['3046','2519','3054']) ).
cnf('3063',plain,
~ node94(c_s,s12),
inference(resolution,[],['3062','2543']) ).
cnf('3064',plain,
( ~ node98(c_s,s10,X)
| ~ m_state_v_CVM(c_s,X,c_up) ),
inference(resolution,[],['2962','2308']) ).
cnf('3065',plain,
~ m_state_v_CVM(c_s,s11,c_up),
inference(resolution,[],['3064','2972']) ).
cnf('3066',plain,
( ~ node98(c_s,s11,X)
| ~ m_state_v_CVM(c_s,X,c_up) ),
inference(resolution,[],['3065','2308']) ).
cnf('3067',plain,
~ m_state_v_ff(c_s,s11),
inference(resolution,[then_simplify],['3052','2519','3053']) ).
cnf('3068',plain,
~ node94(c_s,s11),
inference(resolution,[],['3067','2543']) ).
cnf('3069',plain,
~ node93(c_s,s11),
inference(resolution,[],['3065','2423']) ).
cnf('3070',plain,
node99(c_s,s11,s12),
inference(resolution,[],['2164','1940']) ).
cnf('3071',plain,
( node98(c_s,s11,s12)
| node92(c_s,s11)
| node93(c_s,s11)
| node94(c_s,s11)
| node95(c_s,s11)
| node96(c_s,s11)
| node97(c_s,s11) ),
inference(resolution,[],['3070','2259']) ).
cnf('3072',plain,
~ m_state_v_gvp(c_s,s11,c_ovb),
inference(resolution,[],['2920','2176']) ).
cnf('3073',plain,
~ node92(c_s,s11),
inference(resolution,[],['3072','2417']) ).
cnf('3074',plain,
~ node95(c_s,s11),
inference(resolution,[],['2921','2509']) ).
cnf('3075',plain,
~ node96(c_s,s11),
inference(resolution,[],['2942','2507']) ).
cnf('3076',plain,
~ node97(c_s,s11),
inference(resolution,[],['2942','2505']) ).
cnf('3077',plain,
( node98(c_s,s11,s12)
| node94(c_s,s11) ),
inference(resolution,[then_simplify],['3069','3071','3073','3074','3075','3076']) ).
cnf('3078',plain,
node98(c_s,s11,s12),
inference(resolution,[],['3068','3077']) ).
cnf('3079',plain,
~ m_state_v_CVM(c_s,s12,c_up),
inference(resolution,[],['3066','3078']) ).
cnf('3080',plain,
~ node93(c_s,s12),
inference(resolution,[],['3079','2423']) ).
cnf('3081',plain,
node99(c_s,s12,s13),
inference(resolution,[],['2164','2036']) ).
cnf('3082',plain,
( node98(c_s,s12,s13)
| node92(c_s,s12)
| node93(c_s,s12)
| node94(c_s,s12)
| node95(c_s,s12)
| node96(c_s,s12)
| node97(c_s,s12) ),
inference(resolution,[],['3081','2259']) ).
cnf('3083',plain,
~ m_state_v_gvp(c_s,s12,c_ovb),
inference(resolution,[],['2992','2176']) ).
cnf('3084',plain,
~ node92(c_s,s12),
inference(resolution,[],['3083','2417']) ).
cnf('3085',plain,
~ node95(c_s,s12),
inference(resolution,[],['2993','2509']) ).
cnf('3086',plain,
~ node96(c_s,s12),
inference(resolution,[],['3018','2507']) ).
cnf('3087',plain,
~ node97(c_s,s12),
inference(resolution,[],['3018','2505']) ).
cnf('3088',plain,
( node98(c_s,s12,s13)
| node94(c_s,s12) ),
inference(resolution,[then_simplify],['3080','3082','3084','3085','3086','3087']) ).
cnf('3089',plain,
node98(c_s,s12,s13),
inference(resolution,[],['3063','3088']) ).
cnf('3090',plain,
( ~ node98(c_s,s11,X)
| ~ m_state_v_CVM(c_s,X,c_down) ),
inference(resolution,[],['2973','2308']) ).
cnf('3091',plain,
~ m_state_v_CVM(c_s,s12,c_down),
inference(resolution,[],['3090','3078']) ).
cnf('3092',plain,
~ m_state_v_CVM(c_s,s12,c_up),
inference(resolution,[],['3066','3078']) ).
cnf('3093',plain,
m_state_v_CVM(c_s,s12,c_idle),
inference(resolution,[then_simplify],['3091','2179','3092']) ).
cnf('3094',plain,
( ~ node98(c_s,s12,X)
| m_state_v_CVM(c_s,X,c_idle) ),
inference(resolution,[],['3093','2412']) ).
cnf('3095',plain,
m_state_v_CVM(c_s,s13,c_idle),
inference(resolution,[],['3089','3094']) ).
cnf('3096',plain,
( ~ node98(c_s,s13,X)
| m_state_v_CVM(c_s,X,c_idle) ),
inference(resolution,[],['3095','2412']) ).
cnf('3097',plain,
~ m_state_v_ff(c_s,s13),
inference(resolution,[then_simplify],['3038','2519','3055']) ).
cnf('3098',plain,
~ node94(c_s,s13),
inference(resolution,[],['3097','2543']) ).
cnf('3099',plain,
( ~ node98(c_s,s12,X)
| ~ m_state_v_CVM(c_s,X,c_up) ),
inference(resolution,[],['3079','2308']) ).
cnf('3100',plain,
~ m_state_v_CVM(c_s,s13,c_up),
inference(resolution,[],['3089','3099']) ).
cnf('3101',plain,
~ node93(c_s,s13),
inference(resolution,[],['3100','2423']) ).
cnf('3102',plain,
node99(c_s,s13,s14),
inference(resolution,[],['2164','2062']) ).
cnf('3103',plain,
( node98(c_s,s13,s14)
| node92(c_s,s13)
| node93(c_s,s13)
| node94(c_s,s13)
| node95(c_s,s13)
| node96(c_s,s13)
| node97(c_s,s13) ),
inference(resolution,[],['3102','2259']) ).
cnf('3104',plain,
( ~ node81(c_s,s12,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['2992','2200']) ).
cnf('3105',plain,
~ node78(c_s,s12),
inference(resolution,[],['3091','2194']) ).
cnf('3106',plain,
~ m_state_v_CVM(c_s,s11,c_up),
inference(resolution,[],['3064','2972']) ).
cnf('3107',plain,
m_state_v_CVM(c_s,s11,c_idle),
inference(resolution,[then_simplify],['2973','2179','3106']) ).
cnf('3108',plain,
node87(c_s,s11,s12),
inference(resolution,[],['2205','1940']) ).
cnf('3109',plain,
( ~ m_state_v_CVM(c_s,s11,c_idle)
| ~ m_state_v_gvp(c_s,s11,c_sd)
| m_state_v_gripper_status(c_s,s12,c_gripperstoppedat_sd)
| node83(c_s,s11)
| node84(c_s,s11) ),
inference(resolution,[],['3108','2445']) ).
cnf('3110',plain,
m_state_v_gvp(c_s,s11,c_sd),
inference(resolution,[],['2883','2919']) ).
cnf('3111',plain,
~ node83(c_s,s11),
inference(resolution,[],['3072','2316']) ).
cnf('3112',plain,
~ node84(c_s,s11),
inference(resolution,[],['2921','2222']) ).
cnf('3113',plain,
m_state_v_gripper_status(c_s,s12,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['3107','3109','3110','3111','3112']) ).
cnf('3114',plain,
~ m_state_v_gripper_status(c_s,s12,c_gripperstoppedat_ovf),
inference(resolution,[],['3113','2451']) ).
cnf('3115',plain,
~ node80(c_s,s12),
inference(resolution,[],['3114','2453']) ).
cnf('3116',plain,
node82(c_s,s12,s13),
inference(resolution,[],['2187','2036']) ).
cnf('3117',plain,
( node81(c_s,s12,s13)
| node77(c_s,s12)
| node78(c_s,s12)
| node79(c_s,s12)
| node80(c_s,s12) ),
inference(resolution,[],['3116','2189']) ).
cnf('3118',plain,
~ m_state_v_gripper_status(c_s,s12,c_gripperstoppedat_ovb),
inference(resolution,[],['3113','2235']) ).
cnf('3119',plain,
~ node77(c_s,s12),
inference(resolution,[],['3118','2458']) ).
cnf('3120',plain,
~ node79(c_s,s12),
inference(resolution,[],['3114','2460']) ).
cnf('3121',plain,
( node81(c_s,s12,s13)
| node78(c_s,s12) ),
inference(resolution,[then_simplify],['3115','3117','3119','3120']) ).
cnf('3122',plain,
node81(c_s,s12,s13),
inference(resolution,[],['3105','3121']) ).
cnf('3123',plain,
m_state_v_gvp(c_s,s13,c_sd),
inference(resolution,[],['3104','3122']) ).
cnf('3124',plain,
~ m_state_v_gvp(c_s,s13,c_ovb),
inference(resolution,[],['3123','2176']) ).
cnf('3125',plain,
~ node92(c_s,s13),
inference(resolution,[],['3124','2417']) ).
cnf('3126',plain,
~ m_state_v_gvp(c_s,s13,c_ovf),
inference(resolution,[],['3123','2247']) ).
cnf('3127',plain,
~ node95(c_s,s13),
inference(resolution,[],['3126','2509']) ).
cnf('3128',plain,
( ~ node104(c_s,s11,X)
| m_state_v_CHM(c_s,X,c_idle) ),
inference(resolution,[],['3011','2467']) ).
cnf('3129',plain,
~ node100(c_s,s11),
inference(resolution,[],['3065','2278']) ).
cnf('3130',plain,
~ node101(c_s,s11),
inference(resolution,[],['3012','2663']) ).
cnf('3131',plain,
node105(c_s,s11,s12),
inference(resolution,[],['2265','1940']) ).
cnf('3132',plain,
( node104(c_s,s11,s12)
| node100(c_s,s11)
| node101(c_s,s11)
| node102(c_s,s11)
| node103(c_s,s11) ),
inference(resolution,[],['3131','2267']) ).
cnf('3133',plain,
~ node102(c_s,s11),
inference(resolution,[],['3041','2474']) ).
cnf('3134',plain,
~ node103(c_s,s11),
inference(resolution,[],['2942','2668']) ).
cnf('3135',plain,
( node104(c_s,s11,s12)
| node100(c_s,s11) ),
inference(resolution,[then_simplify],['3130','3132','3133','3134']) ).
cnf('3136',plain,
node104(c_s,s11,s12),
inference(resolution,[],['3129','3135']) ).
cnf('3137',plain,
m_state_v_CHM(c_s,s12,c_idle),
inference(resolution,[],['3128','3136']) ).
cnf('3138',plain,
~ m_state_v_CHM(c_s,s12,c_tofeedbelt),
inference(resolution,[],['3137','2291']) ).
cnf('3139',plain,
node74(c_s,s12,s13),
inference(resolution,[],['2482','2036']) ).
cnf('3140',plain,
( node73(c_s,s12,s13)
| m_state_v_CHM(c_s,s12,c_todepbelt)
| m_state_v_CHM(c_s,s12,c_tofeedbelt) ),
inference(resolution,[],['3139','2584']) ).
cnf('3141',plain,
~ m_state_v_CHM(c_s,s12,c_todepbelt),
inference(resolution,[],['3137','2268']) ).
cnf('3142',plain,
node73(c_s,s12,s13),
inference(resolution,[then_simplify],['3138','3140','3141']) ).
cnf('3143',plain,
~ m_state_v_gob(c_s,s12),
inference(resolution,[then_simplify],['3016','2588','3017']) ).
cnf('3144',plain,
~ m_state_v_gob(c_s,s13),
inference(resolution,[then_simplify],['3142','2588','3143']) ).
cnf('3145',plain,
~ node96(c_s,s13),
inference(resolution,[],['3144','2507']) ).
cnf('3146',plain,
~ node97(c_s,s13),
inference(resolution,[],['3144','2505']) ).
cnf('3147',plain,
( node98(c_s,s13,s14)
| node94(c_s,s13) ),
inference(resolution,[then_simplify],['3101','3103','3125','3127','3145','3146']) ).
cnf('3148',plain,
node98(c_s,s13,s14),
inference(resolution,[],['3098','3147']) ).
cnf('3149',plain,
m_state_v_CVM(c_s,s14,c_idle),
inference(resolution,[],['3096','3148']) ).
cnf('3150',plain,
( ~ node98(c_s,s14,X)
| m_state_v_CVM(c_s,X,c_idle) ),
inference(resolution,[],['3149','2412']) ).
cnf('3151',plain,
~ m_state_v_CVM(c_s,s14,c_up),
inference(resolution,[],['3149','331']) ).
cnf('3152',plain,
~ node93(c_s,s14),
inference(resolution,[],['3151','2423']) ).
cnf('3153',plain,
~ m_state_v_ff(c_s,s14),
inference(resolution,[then_simplify],['3030','2519','3056']) ).
cnf('3154',plain,
~ node94(c_s,s14),
inference(resolution,[],['3153','2543']) ).
cnf('3155',plain,
node99(c_s,s14,s15),
inference(resolution,[],['2164','2121']) ).
cnf('3156',plain,
( node98(c_s,s14,s15)
| node92(c_s,s14)
| node93(c_s,s14)
| node94(c_s,s14)
| node95(c_s,s14)
| node96(c_s,s14)
| node97(c_s,s14) ),
inference(resolution,[],['3155','2259']) ).
cnf('3157',plain,
( ~ node98(c_s,s12,X)
| ~ m_state_v_CVM(c_s,X,c_down) ),
inference(resolution,[],['3091','2308']) ).
cnf('3158',plain,
~ m_state_v_CVM(c_s,s13,c_down),
inference(resolution,[],['3089','3157']) ).
cnf('3159',plain,
~ node78(c_s,s13),
inference(resolution,[],['3158','2194']) ).
cnf('3160',plain,
node87(c_s,s12,s13),
inference(resolution,[],['2205','2036']) ).
cnf('3161',plain,
( ~ m_state_v_CVM(c_s,s12,c_idle)
| ~ m_state_v_gvp(c_s,s12,c_sd)
| m_state_v_gripper_status(c_s,s13,c_gripperstoppedat_sd)
| node83(c_s,s12)
| node84(c_s,s12) ),
inference(resolution,[],['3160','2445']) ).
cnf('3162',plain,
m_state_v_gvp(c_s,s12,c_sd),
inference(resolution,[],['2950','2991']) ).
cnf('3163',plain,
~ node83(c_s,s12),
inference(resolution,[],['3083','2316']) ).
cnf('3164',plain,
~ node84(c_s,s12),
inference(resolution,[],['2993','2222']) ).
cnf('3165',plain,
m_state_v_gripper_status(c_s,s13,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['3093','3161','3162','3163','3164']) ).
cnf('3166',plain,
~ m_state_v_gripper_status(c_s,s13,c_gripperstoppedat_ovf),
inference(resolution,[],['3165','2451']) ).
cnf('3167',plain,
~ node80(c_s,s13),
inference(resolution,[],['3166','2453']) ).
cnf('3168',plain,
node82(c_s,s13,s14),
inference(resolution,[],['2187','2062']) ).
cnf('3169',plain,
( node81(c_s,s13,s14)
| node77(c_s,s13)
| node78(c_s,s13)
| node79(c_s,s13)
| node80(c_s,s13) ),
inference(resolution,[],['3168','2189']) ).
cnf('3170',plain,
~ m_state_v_gripper_status(c_s,s13,c_gripperstoppedat_ovb),
inference(resolution,[],['3165','2235']) ).
cnf('3171',plain,
~ node77(c_s,s13),
inference(resolution,[],['3170','2458']) ).
cnf('3172',plain,
~ node79(c_s,s13),
inference(resolution,[],['3166','2460']) ).
cnf('3173',plain,
( node81(c_s,s13,s14)
| node78(c_s,s13) ),
inference(resolution,[then_simplify],['3167','3169','3171','3172']) ).
cnf('3174',plain,
node81(c_s,s13,s14),
inference(resolution,[],['3159','3173']) ).
cnf('3175',plain,
( ~ node81(c_s,s13,X)
| ~ m_state_v_gvp(c_s,X,c_ovb) ),
inference(resolution,[],['3124','2219']) ).
cnf('3176',plain,
~ m_state_v_gvp(c_s,s14,c_ovb),
inference(resolution,[],['3174','3175']) ).
cnf('3177',plain,
~ node92(c_s,s14),
inference(resolution,[],['3176','2417']) ).
cnf('3178',plain,
( ~ node81(c_s,s13,X)
| ~ m_state_v_gvp(c_s,X,c_ovf) ),
inference(resolution,[],['3126','2219']) ).
cnf('3179',plain,
~ m_state_v_gvp(c_s,s14,c_ovf),
inference(resolution,[],['3174','3178']) ).
cnf('3180',plain,
~ node95(c_s,s14),
inference(resolution,[],['3179','2509']) ).
cnf('3181',plain,
( ~ node104(c_s,s12,X)
| m_state_v_CHM(c_s,X,c_idle) ),
inference(resolution,[],['3137','2467']) ).
cnf('3182',plain,
~ node100(c_s,s12),
inference(resolution,[],['3079','2278']) ).
cnf('3183',plain,
~ node101(c_s,s12),
inference(resolution,[],['3138','2663']) ).
cnf('3184',plain,
node105(c_s,s12,s13),
inference(resolution,[],['2265','2036']) ).
cnf('3185',plain,
( node104(c_s,s12,s13)
| node100(c_s,s12)
| node101(c_s,s12)
| node102(c_s,s12)
| node103(c_s,s12) ),
inference(resolution,[],['3184','2267']) ).
cnf('3186',plain,
~ node102(c_s,s12),
inference(resolution,[],['3033','2474']) ).
cnf('3187',plain,
~ node103(c_s,s12),
inference(resolution,[],['3018','2668']) ).
cnf('3188',plain,
( node104(c_s,s12,s13)
| node100(c_s,s12) ),
inference(resolution,[then_simplify],['3183','3185','3186','3187']) ).
cnf('3189',plain,
node104(c_s,s12,s13),
inference(resolution,[],['3182','3188']) ).
cnf('3190',plain,
m_state_v_CHM(c_s,s13,c_idle),
inference(resolution,[],['3181','3189']) ).
cnf('3191',plain,
~ m_state_v_CHM(c_s,s13,c_tofeedbelt),
inference(resolution,[],['3190','2291']) ).
cnf('3192',plain,
node74(c_s,s13,s14),
inference(resolution,[],['2482','2062']) ).
cnf('3193',plain,
( node73(c_s,s13,s14)
| m_state_v_CHM(c_s,s13,c_todepbelt)
| m_state_v_CHM(c_s,s13,c_tofeedbelt) ),
inference(resolution,[],['3192','2584']) ).
cnf('3194',plain,
~ m_state_v_CHM(c_s,s13,c_todepbelt),
inference(resolution,[],['3190','2268']) ).
cnf('3195',plain,
node73(c_s,s13,s14),
inference(resolution,[then_simplify],['3191','3193','3194']) ).
cnf('3196',plain,
~ m_state_v_gob(c_s,s13),
inference(resolution,[then_simplify],['3142','2588','3143']) ).
cnf('3197',plain,
~ m_state_v_gob(c_s,s14),
inference(resolution,[then_simplify],['3195','2588','3196']) ).
cnf('3198',plain,
~ node96(c_s,s14),
inference(resolution,[],['3197','2507']) ).
cnf('3199',plain,
~ node97(c_s,s14),
inference(resolution,[],['3197','2505']) ).
cnf('3200',plain,
( node98(c_s,s14,s15)
| node93(c_s,s14) ),
inference(resolution,[then_simplify],['3154','3156','3177','3180','3198','3199']) ).
cnf('3201',plain,
node98(c_s,s14,s15),
inference(resolution,[],['3152','3200']) ).
cnf('3202',plain,
m_state_v_CVM(c_s,s15,c_idle),
inference(resolution,[],['3150','3201']) ).
cnf('3203',plain,
( ~ node98(c_s,s15,X)
| m_state_v_CVM(c_s,X,c_idle) ),
inference(resolution,[],['3202','2412']) ).
cnf('3204',plain,
~ m_state_v_CVM(c_s,s15,c_up),
inference(resolution,[],['3202','331']) ).
cnf('3205',plain,
~ node93(c_s,s15),
inference(resolution,[],['3204','2423']) ).
cnf('3206',plain,
~ node13(c_s,s14),
inference(resolution,[],['2118','2157']) ).
cnf('3207',plain,
( ~ node90(c_s,s13,X)
| m_state_v_CMag(c_s,X,c_on) ),
inference(resolution,[],['3024','2403']) ).
cnf('3208',plain,
~ node89(c_s,s13),
inference(resolution,[],['3126','2333']) ).
cnf('3209',plain,
~ node88(c_s,s13),
inference(resolution,[],['3144','2489']) ).
cnf('3210',plain,
node91(c_s,s13,s14),
inference(resolution,[],['2365','2062']) ).
cnf('3211',plain,
( node90(c_s,s13,s14)
| node88(c_s,s13)
| node89(c_s,s13) ),
inference(resolution,[],['3210','2367']) ).
cnf('3212',plain,
( node90(c_s,s13,s14)
| node89(c_s,s13) ),
inference(resolution,[],['3209','3211']) ).
cnf('3213',plain,
node90(c_s,s13,s14),
inference(resolution,[],['3208','3212']) ).
cnf('3214',plain,
m_state_v_CMag(c_s,s14,c_on),
inference(resolution,[],['3207','3213']) ).
cnf('3215',plain,
~ m_state_v_CMag(c_s,s14,c_off),
inference(resolution,[],['3214','2168']) ).
cnf('3216',plain,
~ node14(c_s,s14),
inference(resolution,[],['3215','2512']) ).
cnf('3217',plain,
node16(c_s,s14,s15),
inference(resolution,[],['2148','2121']) ).
cnf('3218',plain,
( node15(c_s,s14,s15)
| node13(c_s,s14)
| node14(c_s,s14) ),
inference(resolution,[],['3217','2515']) ).
cnf('3219',plain,
( node15(c_s,s14,s15)
| node13(c_s,s14) ),
inference(resolution,[],['3216','3218']) ).
cnf('3220',plain,
node15(c_s,s14,s15),
inference(resolution,[],['3206','3219']) ).
cnf('3221',plain,
~ m_state_v_ff(c_s,s15),
inference(resolution,[then_simplify],['3220','2519','3057']) ).
cnf('3222',plain,
~ node94(c_s,s15),
inference(resolution,[],['3221','2543']) ).
cnf('3223',plain,
node99(c_s,s15,s16),
inference(resolution,[],['2164','2150']) ).
cnf('3224',plain,
( node98(c_s,s15,s16)
| node92(c_s,s15)
| node93(c_s,s15)
| node94(c_s,s15)
| node95(c_s,s15)
| node96(c_s,s15)
| node97(c_s,s15) ),
inference(resolution,[],['3223','2259']) ).
cnf('3225',plain,
( ~ node81(c_s,s14,X)
| ~ m_state_v_gvp(c_s,X,c_ovb) ),
inference(resolution,[],['3176','2219']) ).
cnf('3226',plain,
~ m_state_v_CVM(c_s,s14,c_down),
inference(resolution,[],['3149','2180']) ).
cnf('3227',plain,
~ node78(c_s,s14),
inference(resolution,[],['3226','2194']) ).
cnf('3228',plain,
node87(c_s,s13,s14),
inference(resolution,[],['2205','2062']) ).
cnf('3229',plain,
( ~ m_state_v_CVM(c_s,s13,c_idle)
| ~ m_state_v_gvp(c_s,s13,c_sd)
| m_state_v_gripper_status(c_s,s14,c_gripperstoppedat_sd)
| node83(c_s,s13)
| node84(c_s,s13) ),
inference(resolution,[],['3228','2445']) ).
cnf('3230',plain,
m_state_v_gvp(c_s,s13,c_sd),
inference(resolution,[],['3104','3122']) ).
cnf('3231',plain,
~ node83(c_s,s13),
inference(resolution,[],['3124','2316']) ).
cnf('3232',plain,
~ node84(c_s,s13),
inference(resolution,[],['3126','2222']) ).
cnf('3233',plain,
m_state_v_gripper_status(c_s,s14,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['3095','3229','3230','3231','3232']) ).
cnf('3234',plain,
~ m_state_v_gripper_status(c_s,s14,c_gripperstoppedat_ovf),
inference(resolution,[],['3233','2451']) ).
cnf('3235',plain,
~ node80(c_s,s14),
inference(resolution,[],['3234','2453']) ).
cnf('3236',plain,
node82(c_s,s14,s15),
inference(resolution,[],['2187','2121']) ).
cnf('3237',plain,
( node81(c_s,s14,s15)
| node77(c_s,s14)
| node78(c_s,s14)
| node79(c_s,s14)
| node80(c_s,s14) ),
inference(resolution,[],['3236','2189']) ).
cnf('3238',plain,
~ m_state_v_gripper_status(c_s,s14,c_gripperstoppedat_ovb),
inference(resolution,[],['3233','2235']) ).
cnf('3239',plain,
~ node77(c_s,s14),
inference(resolution,[],['3238','2458']) ).
cnf('3240',plain,
~ node79(c_s,s14),
inference(resolution,[],['3234','2460']) ).
cnf('3241',plain,
( node81(c_s,s14,s15)
| node78(c_s,s14) ),
inference(resolution,[then_simplify],['3235','3237','3239','3240']) ).
cnf('3242',plain,
node81(c_s,s14,s15),
inference(resolution,[],['3227','3241']) ).
cnf('3243',plain,
~ m_state_v_gvp(c_s,s15,c_ovb),
inference(resolution,[],['3225','3242']) ).
cnf('3244',plain,
~ node92(c_s,s15),
inference(resolution,[],['3243','2417']) ).
cnf('3245',plain,
( ~ node81(c_s,s14,X)
| ~ m_state_v_gvp(c_s,X,c_ovf) ),
inference(resolution,[],['3179','2219']) ).
cnf('3246',plain,
~ m_state_v_gvp(c_s,s15,c_ovf),
inference(resolution,[],['3245','3242']) ).
cnf('3247',plain,
~ node95(c_s,s15),
inference(resolution,[],['3246','2509']) ).
cnf('3248',plain,
~ node100(c_s,s13),
inference(resolution,[],['3100','2278']) ).
cnf('3249',plain,
~ node101(c_s,s13),
inference(resolution,[],['3191','2663']) ).
cnf('3250',plain,
node105(c_s,s13,s14),
inference(resolution,[],['2265','2062']) ).
cnf('3251',plain,
( node104(c_s,s13,s14)
| node100(c_s,s13)
| node101(c_s,s13)
| node102(c_s,s13)
| node103(c_s,s13) ),
inference(resolution,[],['3250','2267']) ).
cnf('3252',plain,
~ node102(c_s,s13),
inference(resolution,[],['3025','2474']) ).
cnf('3253',plain,
~ node103(c_s,s13),
inference(resolution,[],['3144','2668']) ).
cnf('3254',plain,
( node104(c_s,s13,s14)
| node100(c_s,s13) ),
inference(resolution,[then_simplify],['3249','3251','3252','3253']) ).
cnf('3255',plain,
node104(c_s,s13,s14),
inference(resolution,[],['3248','3254']) ).
cnf('3256',plain,
~ m_state_v_CHM(c_s,s13,c_todepbelt),
inference(resolution,[],['3190','2268']) ).
cnf('3257',plain,
( ~ node104(c_s,s13,X)
| ~ m_state_v_CHM(c_s,X,c_todepbelt) ),
inference(resolution,[],['3256','2282']) ).
cnf('3258',plain,
~ m_state_v_CHM(c_s,s14,c_todepbelt),
inference(resolution,[],['3255','3257']) ).
cnf('3259',plain,
node74(c_s,s14,s15),
inference(resolution,[],['2482','2121']) ).
cnf('3260',plain,
( node73(c_s,s14,s15)
| m_state_v_CHM(c_s,s14,c_todepbelt)
| m_state_v_CHM(c_s,s14,c_tofeedbelt) ),
inference(resolution,[],['3259','2584']) ).
cnf('3261',plain,
( ~ node104(c_s,s13,X)
| ~ m_state_v_CHM(c_s,X,c_tofeedbelt) ),
inference(resolution,[],['3191','2282']) ).
cnf('3262',plain,
~ m_state_v_CHM(c_s,s14,c_tofeedbelt),
inference(resolution,[],['3255','3261']) ).
cnf('3263',plain,
node73(c_s,s14,s15),
inference(resolution,[then_simplify],['3258','3260','3262']) ).
cnf('3264',plain,
~ m_state_v_gob(c_s,s14),
inference(resolution,[then_simplify],['3195','2588','3196']) ).
cnf('3265',plain,
~ m_state_v_gob(c_s,s15),
inference(resolution,[then_simplify],['3263','2588','3264']) ).
cnf('3266',plain,
~ node96(c_s,s15),
inference(resolution,[],['3265','2507']) ).
cnf('3267',plain,
~ node97(c_s,s15),
inference(resolution,[],['3265','2505']) ).
cnf('3268',plain,
( node98(c_s,s15,s16)
| node93(c_s,s15) ),
inference(resolution,[then_simplify],['3222','3224','3244','3247','3266','3267']) ).
cnf('3269',plain,
node98(c_s,s15,s16),
inference(resolution,[],['3205','3268']) ).
cnf('3270',plain,
m_state_v_CVM(c_s,s16,c_idle),
inference(resolution,[],['3203','3269']) ).
cnf('3271',plain,
~ m_state_v_CVM(c_s,s16,c_up),
inference(resolution,[],['3270','331']) ).
cnf('3272',plain,
~ node93(c_s,s16),
inference(resolution,[],['3271','2423']) ).
cnf('3273',plain,
succ(s16,s17),
inference(cnf_transformation,[],[bound17]) ).
cnf('3274',plain,
trans(s16,s17),
inference(resolution,[],['5','3273']) ).
cnf('3275',plain,
node99(c_s,s16,s17),
inference(resolution,[],['2164','3274']) ).
cnf('3276',plain,
( ~ node99(X,Y,Z)
| ~ m_state_v_CMag(X,Y,c_on)
| ~ m_state_v_CHM(X,Y,c_idle)
| ~ m_state_v_gvp(X,Y,c_sd)
| ~ m_state_v_CVM(X,Y,c_idle)
| m_state_v_CVM(X,Z,c_down)
| ~ m_state_v_ff(X,Y)
| ~ m_state_v_gof(X,Y)
| node93(X,Y)
| node92(X,Y) ),
inference(cnf_transformation,[],[m_Crane_39]) ).
cnf('3277',plain,
( ~ m_state_v_CVM(c_s,s16,c_idle)
| ~ m_state_v_CHM(c_s,s16,c_idle)
| ~ m_state_v_CMag(c_s,s16,c_on)
| ~ m_state_v_gvp(c_s,s16,c_sd)
| ~ m_state_v_ff(c_s,s16)
| ~ m_state_v_gof(c_s,s16)
| m_state_v_CVM(c_s,s17,c_down)
| node92(c_s,s16)
| node93(c_s,s16) ),
inference(resolution,[],['3275','3276']) ).
cnf('3278',plain,
m_state_v_CVM(c_s,s16,c_idle),
inference(resolution,[],['3203','3269']) ).
cnf('3279',plain,
~ m_state_v_CHM(c_s,s14,c_tofeedbelt),
inference(resolution,[],['3255','3261']) ).
cnf('3280',plain,
( ~ node104(c_s,s14,X)
| ~ m_state_v_CHM(c_s,X,c_tofeedbelt) ),
inference(resolution,[],['3279','2282']) ).
cnf('3281',plain,
~ node100(c_s,s14),
inference(resolution,[],['3151','2278']) ).
cnf('3282',plain,
~ node101(c_s,s14),
inference(resolution,[],['3279','2663']) ).
cnf('3283',plain,
node105(c_s,s14,s15),
inference(resolution,[],['2265','2121']) ).
cnf('3284',plain,
( node104(c_s,s14,s15)
| node100(c_s,s14)
| node101(c_s,s14)
| node102(c_s,s14)
| node103(c_s,s14) ),
inference(resolution,[],['3283','2267']) ).
cnf('3285',plain,
~ node102(c_s,s14),
inference(resolution,[],['3215','2474']) ).
cnf('3286',plain,
~ node103(c_s,s14),
inference(resolution,[],['3197','2668']) ).
cnf('3287',plain,
( node104(c_s,s14,s15)
| node100(c_s,s14) ),
inference(resolution,[then_simplify],['3282','3284','3285','3286']) ).
cnf('3288',plain,
node104(c_s,s14,s15),
inference(resolution,[],['3281','3287']) ).
cnf('3289',plain,
~ m_state_v_CHM(c_s,s15,c_tofeedbelt),
inference(resolution,[],['3280','3288']) ).
cnf('3290',plain,
( ~ node104(c_s,s15,X)
| ~ m_state_v_CHM(c_s,X,c_tofeedbelt) ),
inference(resolution,[],['3289','2282']) ).
cnf('3291',plain,
~ node100(c_s,s15),
inference(resolution,[],['3204','2278']) ).
cnf('3292',plain,
~ node101(c_s,s15),
inference(resolution,[],['3289','2663']) ).
cnf('3293',plain,
node105(c_s,s15,s16),
inference(resolution,[],['2265','2150']) ).
cnf('3294',plain,
( node104(c_s,s15,s16)
| node100(c_s,s15)
| node101(c_s,s15)
| node102(c_s,s15)
| node103(c_s,s15) ),
inference(resolution,[],['3293','2267']) ).
cnf('3295',plain,
~ node89(c_s,s14),
inference(resolution,[],['3179','2333']) ).
cnf('3296',plain,
~ node88(c_s,s14),
inference(resolution,[],['3197','2489']) ).
cnf('3297',plain,
node91(c_s,s14,s15),
inference(resolution,[],['2365','2121']) ).
cnf('3298',plain,
( node90(c_s,s14,s15)
| node88(c_s,s14)
| node89(c_s,s14) ),
inference(resolution,[],['3297','2367']) ).
cnf('3299',plain,
( node90(c_s,s14,s15)
| node89(c_s,s14) ),
inference(resolution,[],['3296','3298']) ).
cnf('3300',plain,
node90(c_s,s14,s15),
inference(resolution,[],['3295','3299']) ).
cnf('3301',plain,
( ~ node90(c_s,s14,X)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3215','2375']) ).
cnf('3302',plain,
~ m_state_v_CMag(c_s,s15,c_off),
inference(resolution,[],['3300','3301']) ).
cnf('3303',plain,
~ node102(c_s,s15),
inference(resolution,[],['3302','2474']) ).
cnf('3304',plain,
~ node103(c_s,s15),
inference(resolution,[],['3265','2668']) ).
cnf('3305',plain,
( node104(c_s,s15,s16)
| node100(c_s,s15) ),
inference(resolution,[then_simplify],['3292','3294','3303','3304']) ).
cnf('3306',plain,
node104(c_s,s15,s16),
inference(resolution,[],['3291','3305']) ).
cnf('3307',plain,
~ m_state_v_CHM(c_s,s16,c_tofeedbelt),
inference(resolution,[],['3290','3306']) ).
cnf('3308',plain,
( m_state_v_CHM(X,Y,c_tofeedbelt)
| m_state_v_CHM(X,Y,c_todepbelt)
| m_state_v_CHM(X,Y,c_idle) ),
inference(cnf_transformation,[],[m_state_13]) ).
cnf('3309',plain,
( ~ node104(c_s,s14,X)
| ~ m_state_v_CHM(c_s,X,c_todepbelt) ),
inference(resolution,[],['3258','2282']) ).
cnf('3310',plain,
~ m_state_v_CHM(c_s,s15,c_todepbelt),
inference(resolution,[],['3309','3288']) ).
cnf('3311',plain,
( ~ node104(c_s,s15,X)
| ~ m_state_v_CHM(c_s,X,c_todepbelt) ),
inference(resolution,[],['3310','2282']) ).
cnf('3312',plain,
~ m_state_v_CHM(c_s,s16,c_todepbelt),
inference(resolution,[],['3311','3306']) ).
cnf('3313',plain,
m_state_v_CHM(c_s,s16,c_idle),
inference(resolution,[then_simplify],['3307','3308','3312']) ).
cnf('3314',plain,
( ~ node90(c_s,s15,X)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3302','2375']) ).
cnf('3315',plain,
~ node89(c_s,s15),
inference(resolution,[],['3246','2333']) ).
cnf('3316',plain,
~ node88(c_s,s15),
inference(resolution,[],['3265','2489']) ).
cnf('3317',plain,
node91(c_s,s15,s16),
inference(resolution,[],['2365','2150']) ).
cnf('3318',plain,
( node90(c_s,s15,s16)
| node88(c_s,s15)
| node89(c_s,s15) ),
inference(resolution,[],['3317','2367']) ).
cnf('3319',plain,
( node90(c_s,s15,s16)
| node89(c_s,s15) ),
inference(resolution,[],['3316','3318']) ).
cnf('3320',plain,
node90(c_s,s15,s16),
inference(resolution,[],['3315','3319']) ).
cnf('3321',plain,
~ m_state_v_CMag(c_s,s16,c_off),
inference(resolution,[],['3314','3320']) ).
cnf('3322',plain,
m_state_v_CMag(c_s,s16,c_on),
inference(resolution,[],['3321','2167']) ).
cnf('3323',plain,
( ~ node81(c_s,s15,X)
| ~ m_state_v_gvp(c_s,X,c_ovb) ),
inference(resolution,[],['3243','2219']) ).
cnf('3324',plain,
~ m_state_v_CVM(c_s,s15,c_down),
inference(resolution,[],['3202','2180']) ).
cnf('3325',plain,
~ node78(c_s,s15),
inference(resolution,[],['3324','2194']) ).
cnf('3326',plain,
node87(c_s,s14,s15),
inference(resolution,[],['2205','2121']) ).
cnf('3327',plain,
( ~ m_state_v_CVM(c_s,s14,c_idle)
| ~ m_state_v_gvp(c_s,s14,c_sd)
| m_state_v_gripper_status(c_s,s15,c_gripperstoppedat_sd)
| node83(c_s,s14)
| node84(c_s,s14) ),
inference(resolution,[],['3326','2445']) ).
cnf('3328',plain,
( ~ node81(c_s,s13,X)
| m_state_v_gvp(c_s,X,c_sd) ),
inference(resolution,[],['3123','2200']) ).
cnf('3329',plain,
m_state_v_gvp(c_s,s14,c_sd),
inference(resolution,[],['3174','3328']) ).
cnf('3330',plain,
~ node83(c_s,s14),
inference(resolution,[],['3176','2316']) ).
cnf('3331',plain,
~ node84(c_s,s14),
inference(resolution,[],['3179','2222']) ).
cnf('3332',plain,
m_state_v_gripper_status(c_s,s15,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['3149','3327','3329','3330','3331']) ).
cnf('3333',plain,
~ m_state_v_gripper_status(c_s,s15,c_gripperstoppedat_ovf),
inference(resolution,[],['3332','2451']) ).
cnf('3334',plain,
~ node80(c_s,s15),
inference(resolution,[],['3333','2453']) ).
cnf('3335',plain,
node82(c_s,s15,s16),
inference(resolution,[],['2187','2150']) ).
cnf('3336',plain,
( node81(c_s,s15,s16)
| node77(c_s,s15)
| node78(c_s,s15)
| node79(c_s,s15)
| node80(c_s,s15) ),
inference(resolution,[],['3335','2189']) ).
cnf('3337',plain,
~ m_state_v_gripper_status(c_s,s15,c_gripperstoppedat_ovb),
inference(resolution,[],['3332','2235']) ).
cnf('3338',plain,
~ node77(c_s,s15),
inference(resolution,[],['3337','2458']) ).
cnf('3339',plain,
~ node79(c_s,s15),
inference(resolution,[],['3333','2460']) ).
cnf('3340',plain,
( node81(c_s,s15,s16)
| node78(c_s,s15) ),
inference(resolution,[then_simplify],['3334','3336','3338','3339']) ).
cnf('3341',plain,
node81(c_s,s15,s16),
inference(resolution,[],['3325','3340']) ).
cnf('3342',plain,
~ m_state_v_gvp(c_s,s16,c_ovb),
inference(resolution,[],['3323','3341']) ).
cnf('3343',plain,
( ~ node81(c_s,s15,X)
| ~ m_state_v_gvp(c_s,X,c_ovf) ),
inference(resolution,[],['3246','2219']) ).
cnf('3344',plain,
~ m_state_v_gvp(c_s,s16,c_ovf),
inference(resolution,[],['3343','3341']) ).
cnf('3345',plain,
m_state_v_gvp(c_s,s16,c_sd),
inference(resolution,[then_simplify],['3342','2172','3344']) ).
cnf('3346',plain,
node76(c_s,s15,s16),
inference(resolution,[],['2288','2150']) ).
cnf('3347',plain,
( node75(c_s,s15,s16)
| m_state_v_CHM(c_s,s15,c_todepbelt)
| m_state_v_CHM(c_s,s15,c_tofeedbelt) ),
inference(resolution,[],['3346','2290']) ).
cnf('3348',plain,
~ m_state_v_CHM(c_s,s15,c_todepbelt),
inference(resolution,[],['3309','3288']) ).
cnf('3349',plain,
node75(c_s,s15,s16),
inference(resolution,[then_simplify],['3289','3347','3348']) ).
cnf('3350',plain,
( ~ node75(X,Y,Z)
| ~ m_state_v_gof(X,Y)
| m_state_v_gof(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_166]) ).
cnf('3351',plain,
node76(c_s,s14,s15),
inference(resolution,[],['2288','2121']) ).
cnf('3352',plain,
( node75(c_s,s14,s15)
| m_state_v_CHM(c_s,s14,c_todepbelt)
| m_state_v_CHM(c_s,s14,c_tofeedbelt) ),
inference(resolution,[],['3351','2290']) ).
cnf('3353',plain,
node75(c_s,s14,s15),
inference(resolution,[then_simplify],['3258','3352','3262']) ).
cnf('3354',plain,
node76(c_s,s13,s14),
inference(resolution,[],['2288','2062']) ).
cnf('3355',plain,
( node75(c_s,s13,s14)
| m_state_v_CHM(c_s,s13,c_todepbelt)
| m_state_v_CHM(c_s,s13,c_tofeedbelt) ),
inference(resolution,[],['3354','2290']) ).
cnf('3356',plain,
node75(c_s,s13,s14),
inference(resolution,[then_simplify],['3191','3355','3194']) ).
cnf('3357',plain,
node76(c_s,s12,s13),
inference(resolution,[],['2288','2036']) ).
cnf('3358',plain,
( node75(c_s,s12,s13)
| m_state_v_CHM(c_s,s12,c_todepbelt)
| m_state_v_CHM(c_s,s12,c_tofeedbelt) ),
inference(resolution,[],['3357','2290']) ).
cnf('3359',plain,
node75(c_s,s12,s13),
inference(resolution,[then_simplify],['3138','3358','3141']) ).
cnf('3360',plain,
node76(c_s,s11,s12),
inference(resolution,[],['2288','1940']) ).
cnf('3361',plain,
( node75(c_s,s11,s12)
| m_state_v_CHM(c_s,s11,c_todepbelt)
| m_state_v_CHM(c_s,s11,c_tofeedbelt) ),
inference(resolution,[],['3360','2290']) ).
cnf('3362',plain,
node75(c_s,s11,s12),
inference(resolution,[then_simplify],['3012','3361','3015']) ).
cnf('3363',plain,
node76(c_s,s10,s11),
inference(resolution,[],['2288','1610']) ).
cnf('3364',plain,
( node75(c_s,s10,s11)
| m_state_v_CHM(c_s,s10,c_todepbelt)
| m_state_v_CHM(c_s,s10,c_tofeedbelt) ),
inference(resolution,[],['3363','2290']) ).
cnf('3365',plain,
node75(c_s,s10,s11),
inference(resolution,[then_simplify],['2935','3364','2939']) ).
cnf('3366',plain,
node76(c_s,s9,s10),
inference(resolution,[],['2288','1214']) ).
cnf('3367',plain,
( node75(c_s,s9,s10)
| m_state_v_CHM(c_s,s9,c_todepbelt)
| m_state_v_CHM(c_s,s9,c_tofeedbelt) ),
inference(resolution,[],['3366','2290']) ).
cnf('3368',plain,
node75(c_s,s9,s10),
inference(resolution,[then_simplify],['2841','3367','2845']) ).
cnf('3369',plain,
node76(c_s,s8,s9),
inference(resolution,[],['2288','1110']) ).
cnf('3370',plain,
( node75(c_s,s8,s9)
| m_state_v_CHM(c_s,s8,c_todepbelt)
| m_state_v_CHM(c_s,s8,c_tofeedbelt) ),
inference(resolution,[],['3369','2290']) ).
cnf('3371',plain,
node75(c_s,s8,s9),
inference(resolution,[then_simplify],['2822','3370','2849']) ).
cnf('3372',plain,
node76(c_s,s7,s8),
inference(resolution,[],['2288','1099']) ).
cnf('3373',plain,
( node75(c_s,s7,s8)
| m_state_v_CHM(c_s,s7,c_todepbelt)
| m_state_v_CHM(c_s,s7,c_tofeedbelt) ),
inference(resolution,[],['3372','2290']) ).
cnf('3374',plain,
node75(c_s,s7,s8),
inference(resolution,[then_simplify],['2749','3373','2752']) ).
cnf('3375',plain,
node76(c_s,s6,s7),
inference(resolution,[],['2288','949']) ).
cnf('3376',plain,
( node75(c_s,s6,s7)
| m_state_v_CHM(c_s,s6,c_todepbelt)
| m_state_v_CHM(c_s,s6,c_tofeedbelt) ),
inference(resolution,[],['3375','2290']) ).
cnf('3377',plain,
node75(c_s,s6,s7),
inference(resolution,[then_simplify],['2673','3376','2676']) ).
cnf('3378',plain,
node76(c_s,s5,s6),
inference(resolution,[],['2288','704']) ).
cnf('3379',plain,
( node75(c_s,s5,s6)
| m_state_v_CHM(c_s,s5,c_todepbelt)
| m_state_v_CHM(c_s,s5,c_tofeedbelt) ),
inference(resolution,[],['3378','2290']) ).
cnf('3380',plain,
node75(c_s,s5,s6),
inference(resolution,[then_simplify],['2582','3379','2586']) ).
cnf('3381',plain,
node76(c_s,s4,s5),
inference(resolution,[],['2288','601']) ).
cnf('3382',plain,
( ~ m_state_v_CHM(c_s,s4,c_tofeedbelt)
| m_state_v_gof(c_s,s5) ),
inference(resolution,[],['3381','2577']) ).
cnf('3383',plain,
m_state_v_gof(c_s,s5),
inference(resolution,[],['2480','3382']) ).
cnf('3384',plain,
m_state_v_gof(c_s,s6),
inference(resolution,[then_simplify],['3380','3350','3383']) ).
cnf('3385',plain,
m_state_v_gof(c_s,s7),
inference(resolution,[then_simplify],['3377','3350','3384']) ).
cnf('3386',plain,
m_state_v_gof(c_s,s8),
inference(resolution,[then_simplify],['3374','3350','3385']) ).
cnf('3387',plain,
m_state_v_gof(c_s,s9),
inference(resolution,[then_simplify],['3371','3350','3386']) ).
cnf('3388',plain,
m_state_v_gof(c_s,s10),
inference(resolution,[then_simplify],['3368','3350','3387']) ).
cnf('3389',plain,
m_state_v_gof(c_s,s11),
inference(resolution,[then_simplify],['3365','3350','3388']) ).
cnf('3390',plain,
m_state_v_gof(c_s,s12),
inference(resolution,[then_simplify],['3362','3350','3389']) ).
cnf('3391',plain,
m_state_v_gof(c_s,s13),
inference(resolution,[then_simplify],['3359','3350','3390']) ).
cnf('3392',plain,
m_state_v_gof(c_s,s14),
inference(resolution,[then_simplify],['3356','3350','3391']) ).
cnf('3393',plain,
m_state_v_gof(c_s,s15),
inference(resolution,[then_simplify],['3353','3350','3392']) ).
cnf('3394',plain,
m_state_v_gof(c_s,s16),
inference(resolution,[then_simplify],['3349','3350','3393']) ).
cnf('3395',plain,
~ node92(c_s,s16),
inference(resolution,[],['3342','2417']) ).
cnf('3396',plain,
( ~ m_state_v_ff(c_s,s16)
| m_state_v_CVM(c_s,s17,c_down) ),
inference(resolution,[then_simplify],['3272','3277','3278','3313','3322','3345','3394','3395']) ).
cnf('3397',plain,
m_state_v_CVM(c_s,s17,c_down),
inference(resolution,[],['3061','3396']) ).
cnf('3398',plain,
succ(s17,s18),
inference(cnf_transformation,[],[bound18]) ).
cnf('3399',plain,
trans(s17,s18),
inference(resolution,[],['5','3398']) ).
cnf('3400',plain,
node82(c_s,s17,s18),
inference(resolution,[],['2187','3399']) ).
cnf('3401',plain,
( ~ node82(X,Y,Z)
| ~ m_state_v_gripper_status(X,Y,c_gripperstoppedat_sd)
| ~ m_state_v_gvp(X,Y,c_sd)
| ~ m_state_v_CVM(X,Y,c_down)
| m_state_v_gvp(X,Z,c_ovf)
| node77(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_187]) ).
cnf('3402',plain,
( ~ m_state_v_gripper_status(c_s,s17,c_gripperstoppedat_sd)
| ~ m_state_v_gvp(c_s,s17,c_sd)
| ~ m_state_v_CVM(c_s,s17,c_down)
| m_state_v_gvp(c_s,s18,c_ovf)
| node77(c_s,s17) ),
inference(resolution,[],['3400','3401']) ).
cnf('3403',plain,
node87(c_s,s16,s17),
inference(resolution,[],['2205','3274']) ).
cnf('3404',plain,
( ~ m_state_v_CVM(c_s,s16,c_idle)
| ~ m_state_v_gvp(c_s,s16,c_sd)
| m_state_v_gripper_status(c_s,s17,c_gripperstoppedat_sd)
| node83(c_s,s16)
| node84(c_s,s16) ),
inference(resolution,[],['3403','2445']) ).
cnf('3405',plain,
~ node83(c_s,s16),
inference(resolution,[],['3342','2316']) ).
cnf('3406',plain,
~ m_state_v_gvp(c_s,s16,c_ovf),
inference(resolution,[],['3343','3341']) ).
cnf('3407',plain,
~ node84(c_s,s16),
inference(resolution,[],['3406','2222']) ).
cnf('3408',plain,
m_state_v_gripper_status(c_s,s17,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['3270','3404','3345','3405','3407']) ).
cnf('3409',plain,
( ~ node81(c_s,s16,X)
| ~ m_state_v_gvp(c_s,X,c_ovb) ),
inference(resolution,[],['3342','2219']) ).
cnf('3410',plain,
~ m_state_v_CVM(c_s,s16,c_down),
inference(resolution,[],['3270','2180']) ).
cnf('3411',plain,
~ node78(c_s,s16),
inference(resolution,[],['3410','2194']) ).
cnf('3412',plain,
node87(c_s,s15,s16),
inference(resolution,[],['2205','2150']) ).
cnf('3413',plain,
( ~ m_state_v_CVM(c_s,s15,c_idle)
| ~ m_state_v_gvp(c_s,s15,c_sd)
| m_state_v_gripper_status(c_s,s16,c_gripperstoppedat_sd)
| node83(c_s,s15)
| node84(c_s,s15) ),
inference(resolution,[],['3412','2445']) ).
cnf('3414',plain,
~ m_state_v_gvp(c_s,s15,c_ovf),
inference(resolution,[],['3245','3242']) ).
cnf('3415',plain,
m_state_v_gvp(c_s,s15,c_sd),
inference(resolution,[then_simplify],['3243','2172','3414']) ).
cnf('3416',plain,
~ node83(c_s,s15),
inference(resolution,[],['3243','2316']) ).
cnf('3417',plain,
~ node84(c_s,s15),
inference(resolution,[],['3246','2222']) ).
cnf('3418',plain,
m_state_v_gripper_status(c_s,s16,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['3202','3413','3415','3416','3417']) ).
cnf('3419',plain,
~ m_state_v_gripper_status(c_s,s16,c_gripperstoppedat_ovf),
inference(resolution,[],['3418','2451']) ).
cnf('3420',plain,
~ node80(c_s,s16),
inference(resolution,[],['3419','2453']) ).
cnf('3421',plain,
node82(c_s,s16,s17),
inference(resolution,[],['2187','3274']) ).
cnf('3422',plain,
( node81(c_s,s16,s17)
| node77(c_s,s16)
| node78(c_s,s16)
| node79(c_s,s16)
| node80(c_s,s16) ),
inference(resolution,[],['3421','2189']) ).
cnf('3423',plain,
~ m_state_v_gripper_status(c_s,s16,c_gripperstoppedat_ovb),
inference(resolution,[],['3418','2235']) ).
cnf('3424',plain,
~ node77(c_s,s16),
inference(resolution,[],['3423','2458']) ).
cnf('3425',plain,
~ node79(c_s,s16),
inference(resolution,[],['3419','2460']) ).
cnf('3426',plain,
( node81(c_s,s16,s17)
| node78(c_s,s16) ),
inference(resolution,[then_simplify],['3420','3422','3424','3425']) ).
cnf('3427',plain,
node81(c_s,s16,s17),
inference(resolution,[],['3411','3426']) ).
cnf('3428',plain,
~ m_state_v_gvp(c_s,s17,c_ovb),
inference(resolution,[],['3409','3427']) ).
cnf('3429',plain,
( ~ node81(c_s,s16,X)
| ~ m_state_v_gvp(c_s,X,c_ovf) ),
inference(resolution,[],['3406','2219']) ).
cnf('3430',plain,
~ m_state_v_gvp(c_s,s17,c_ovf),
inference(resolution,[],['3429','3427']) ).
cnf('3431',plain,
m_state_v_gvp(c_s,s17,c_sd),
inference(resolution,[then_simplify],['3428','2172','3430']) ).
cnf('3432',plain,
m_state_v_gripper_status(c_s,s17,c_gripperstoppedat_sd),
inference(resolution,[then_simplify],['3270','3404','3345','3405','3407']) ).
cnf('3433',plain,
~ m_state_v_gripper_status(c_s,s17,c_gripperstoppedat_ovb),
inference(resolution,[],['3432','2235']) ).
cnf('3434',plain,
~ node77(c_s,s17),
inference(resolution,[],['3433','2458']) ).
cnf('3435',plain,
m_state_v_gvp(c_s,s18,c_ovf),
inference(resolution,[then_simplify],['3397','3402','3408','3431','3434']) ).
cnf('3436',plain,
( ~ node81(c_s,s18,X)
| m_state_v_gvp(c_s,X,c_ovf) ),
inference(resolution,[],['3435','2200']) ).
cnf('3437',plain,
( ~ node86(X,Y,Z)
| ~ m_state_v_gripper_status(X,Y,U)
| m_state_v_gripper_status(X,Z,U) ),
inference(cnf_transformation,[],[m_Sensor_198]) ).
cnf('3438',plain,
( ~ node86(c_s,s17,X)
| m_state_v_gripper_status(c_s,X,c_gripperstoppedat_sd) ),
inference(resolution,[],['3432','3437']) ).
cnf('3439',plain,
~ m_state_v_CVM(c_s,s17,c_idle),
inference(resolution,[],['3397','2180']) ).
cnf('3440',plain,
~ node85(c_s,s17),
inference(resolution,[],['3439','2311']) ).
cnf('3441',plain,
~ node83(c_s,s17),
inference(resolution,[],['3428','2316']) ).
cnf('3442',plain,
node87(c_s,s17,s18),
inference(resolution,[],['2205','3399']) ).
cnf('3443',plain,
( node86(c_s,s17,s18)
| node83(c_s,s17)
| node84(c_s,s17)
| node85(c_s,s17) ),
inference(resolution,[],['3442','2225']) ).
cnf('3444',plain,
~ m_state_v_gvp(c_s,s17,c_ovf),
inference(resolution,[],['3429','3427']) ).
cnf('3445',plain,
~ node84(c_s,s17),
inference(resolution,[],['3444','2222']) ).
cnf('3446',plain,
( node86(c_s,s17,s18)
| node85(c_s,s17) ),
inference(resolution,[then_simplify],['3441','3443','3445']) ).
cnf('3447',plain,
node86(c_s,s17,s18),
inference(resolution,[],['3440','3446']) ).
cnf('3448',plain,
m_state_v_gripper_status(c_s,s18,c_gripperstoppedat_sd),
inference(resolution,[],['3438','3447']) ).
cnf('3449',plain,
~ m_state_v_gripper_status(c_s,s18,c_gripperstoppedat_ovf),
inference(resolution,[],['3448','2451']) ).
cnf('3450',plain,
~ node80(c_s,s18),
inference(resolution,[],['3449','2453']) ).
cnf('3451',plain,
succ(s18,s19),
inference(cnf_transformation,[],[bound19]) ).
cnf('3452',plain,
trans(s18,s19),
inference(resolution,[],['5','3451']) ).
cnf('3453',plain,
node82(c_s,s18,s19),
inference(resolution,[],['2187','3452']) ).
cnf('3454',plain,
( node81(c_s,s18,s19)
| node77(c_s,s18)
| node78(c_s,s18)
| node79(c_s,s18)
| node80(c_s,s18) ),
inference(resolution,[],['3453','2189']) ).
cnf('3455',plain,
~ m_state_v_gvp(c_s,s18,c_ovb),
inference(resolution,[],['3435','2173']) ).
cnf('3456',plain,
~ node77(c_s,s18),
inference(resolution,[],['3455','2245']) ).
cnf('3457',plain,
~ m_state_v_gvp(c_s,s18,c_sd),
inference(resolution,[],['3435','2247']) ).
cnf('3458',plain,
( m_state_v_gvp(X,Y,c_sd)
| ~ node78(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_175]) ).
cnf('3459',plain,
~ node78(c_s,s18),
inference(resolution,[],['3457','3458']) ).
cnf('3460',plain,
~ node79(c_s,s18),
inference(resolution,[],['3449','2460']) ).
cnf('3461',plain,
node81(c_s,s18,s19),
inference(resolution,[then_simplify],['3450','3454','3456','3459','3460']) ).
cnf('3462',plain,
m_state_v_gvp(c_s,s19,c_ovf),
inference(resolution,[],['3436','3461']) ).
cnf('3463',plain,
~ m_state_v_gvp(c_s,s19,c_ovb),
inference(resolution,[],['3462','2173']) ).
cnf('3464',plain,
~ node83(c_s,s19),
inference(resolution,[],['3463','2316']) ).
cnf('3465',plain,
( ~ node87(X,Y,Z)
| ~ m_state_v_gvp(X,Y,c_ovf)
| ~ m_state_v_CVM(X,Y,c_idle)
| m_state_v_gripper_status(X,Z,c_gripperstoppedat_ovf)
| node83(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_201]) ).
cnf('3466',plain,
m_state_v_gvp(c_s,s19,c_ovf),
inference(resolution,[],['3436','3461']) ).
cnf('3467',plain,
( ~ node98(c_s,s17,X)
| m_state_v_CVM(c_s,X,c_down) ),
inference(resolution,[],['3397','2412']) ).
cnf('3468',plain,
( m_state_v_CVM(X,Y,c_idle)
| ~ node94(X,Y) ),
inference(cnf_transformation,[],[m_Crane_24]) ).
cnf('3469',plain,
~ node94(c_s,s17),
inference(resolution,[],['3439','3468']) ).
cnf('3470',plain,
node99(c_s,s17,s18),
inference(resolution,[],['2164','3399']) ).
cnf('3471',plain,
( node98(c_s,s17,s18)
| node92(c_s,s17)
| node93(c_s,s17)
| node94(c_s,s17)
| node95(c_s,s17)
| node96(c_s,s17)
| node97(c_s,s17) ),
inference(resolution,[],['3470','2259']) ).
cnf('3472',plain,
~ node92(c_s,s17),
inference(resolution,[],['3428','2417']) ).
cnf('3473',plain,
~ m_state_v_CVM(c_s,s17,c_up),
inference(resolution,[],['3397','2260']) ).
cnf('3474',plain,
~ node93(c_s,s17),
inference(resolution,[],['3473','2423']) ).
cnf('3475',plain,
~ node95(c_s,s17),
inference(resolution,[],['3444','2509']) ).
cnf('3476',plain,
node74(c_s,s16,s17),
inference(resolution,[],['2482','3274']) ).
cnf('3477',plain,
( node73(c_s,s16,s17)
| m_state_v_CHM(c_s,s16,c_todepbelt)
| m_state_v_CHM(c_s,s16,c_tofeedbelt) ),
inference(resolution,[],['3476','2584']) ).
cnf('3478',plain,
node73(c_s,s16,s17),
inference(resolution,[then_simplify],['3307','3477','3312']) ).
cnf('3479',plain,
node74(c_s,s15,s16),
inference(resolution,[],['2482','2150']) ).
cnf('3480',plain,
( node73(c_s,s15,s16)
| m_state_v_CHM(c_s,s15,c_todepbelt)
| m_state_v_CHM(c_s,s15,c_tofeedbelt) ),
inference(resolution,[],['3479','2584']) ).
cnf('3481',plain,
node73(c_s,s15,s16),
inference(resolution,[then_simplify],['3289','3480','3348']) ).
cnf('3482',plain,
~ m_state_v_gob(c_s,s15),
inference(resolution,[then_simplify],['3263','2588','3264']) ).
cnf('3483',plain,
~ m_state_v_gob(c_s,s16),
inference(resolution,[then_simplify],['3481','2588','3482']) ).
cnf('3484',plain,
~ m_state_v_gob(c_s,s17),
inference(resolution,[then_simplify],['3478','2588','3483']) ).
cnf('3485',plain,
~ node96(c_s,s17),
inference(resolution,[],['3484','2507']) ).
cnf('3486',plain,
~ node97(c_s,s17),
inference(resolution,[],['3484','2505']) ).
cnf('3487',plain,
node98(c_s,s17,s18),
inference(resolution,[then_simplify],['3469','3471','3472','3474','3475','3485','3486']) ).
cnf('3488',plain,
m_state_v_CVM(c_s,s18,c_down),
inference(resolution,[],['3467','3487']) ).
cnf('3489',plain,
node99(c_s,s18,s19),
inference(resolution,[],['2164','3452']) ).
cnf('3490',plain,
( ~ node99(X,Y,Z)
| ~ m_state_v_gvp(X,Y,c_ovf)
| ~ m_state_v_CVM(X,Y,c_down)
| m_state_v_CVM(X,Z,c_idle)
| ~ m_state_v_gof(X,Y)
| node94(X,Y)
| node93(X,Y)
| node92(X,Y) ),
inference(cnf_transformation,[],[m_Crane_40]) ).
cnf('3491',plain,
( ~ m_state_v_gvp(c_s,s18,c_ovf)
| ~ m_state_v_CVM(c_s,s18,c_down)
| ~ m_state_v_gof(c_s,s18)
| m_state_v_CVM(c_s,s19,c_idle)
| node92(c_s,s18)
| node93(c_s,s18)
| node94(c_s,s18) ),
inference(resolution,[],['3489','3490']) ).
cnf('3492',plain,
m_state_v_gvp(c_s,s18,c_ovf),
inference(resolution,[then_simplify],['3397','3402','3408','3431','3434']) ).
cnf('3493',plain,
( ~ node104(c_s,s16,X)
| ~ m_state_v_CHM(c_s,X,c_tofeedbelt) ),
inference(resolution,[],['3307','2282']) ).
cnf('3494',plain,
~ node100(c_s,s16),
inference(resolution,[],['3271','2278']) ).
cnf('3495',plain,
~ node101(c_s,s16),
inference(resolution,[],['3307','2663']) ).
cnf('3496',plain,
node105(c_s,s16,s17),
inference(resolution,[],['2265','3274']) ).
cnf('3497',plain,
( node104(c_s,s16,s17)
| node100(c_s,s16)
| node101(c_s,s16)
| node102(c_s,s16)
| node103(c_s,s16) ),
inference(resolution,[],['3496','2267']) ).
cnf('3498',plain,
~ node102(c_s,s16),
inference(resolution,[],['3321','2474']) ).
cnf('3499',plain,
~ m_state_v_gob(c_s,s16),
inference(resolution,[then_simplify],['3481','2588','3482']) ).
cnf('3500',plain,
~ node103(c_s,s16),
inference(resolution,[],['3499','2668']) ).
cnf('3501',plain,
( node104(c_s,s16,s17)
| node100(c_s,s16) ),
inference(resolution,[then_simplify],['3495','3497','3498','3500']) ).
cnf('3502',plain,
node104(c_s,s16,s17),
inference(resolution,[],['3494','3501']) ).
cnf('3503',plain,
~ m_state_v_CHM(c_s,s17,c_tofeedbelt),
inference(resolution,[],['3493','3502']) ).
cnf('3504',plain,
node76(c_s,s17,s18),
inference(resolution,[],['2288','3399']) ).
cnf('3505',plain,
( node75(c_s,s17,s18)
| m_state_v_CHM(c_s,s17,c_todepbelt)
| m_state_v_CHM(c_s,s17,c_tofeedbelt) ),
inference(resolution,[],['3504','2290']) ).
cnf('3506',plain,
~ m_state_v_CHM(c_s,s16,c_todepbelt),
inference(resolution,[],['3311','3306']) ).
cnf('3507',plain,
( ~ node104(c_s,s16,X)
| ~ m_state_v_CHM(c_s,X,c_todepbelt) ),
inference(resolution,[],['3506','2282']) ).
cnf('3508',plain,
~ m_state_v_CHM(c_s,s17,c_todepbelt),
inference(resolution,[],['3507','3502']) ).
cnf('3509',plain,
node75(c_s,s17,s18),
inference(resolution,[then_simplify],['3503','3505','3508']) ).
cnf('3510',plain,
node76(c_s,s16,s17),
inference(resolution,[],['2288','3274']) ).
cnf('3511',plain,
( node75(c_s,s16,s17)
| m_state_v_CHM(c_s,s16,c_todepbelt)
| m_state_v_CHM(c_s,s16,c_tofeedbelt) ),
inference(resolution,[],['3510','2290']) ).
cnf('3512',plain,
node75(c_s,s16,s17),
inference(resolution,[then_simplify],['3307','3511','3312']) ).
cnf('3513',plain,
m_state_v_gof(c_s,s17),
inference(resolution,[then_simplify],['3512','3350','3394']) ).
cnf('3514',plain,
m_state_v_gof(c_s,s18),
inference(resolution,[then_simplify],['3509','3350','3513']) ).
cnf('3515',plain,
~ node92(c_s,s18),
inference(resolution,[],['3455','2417']) ).
cnf('3516',plain,
~ node93(c_s,s18),
inference(resolution,[],['3457','2303']) ).
cnf('3517',plain,
( m_state_v_gvp(X,Y,c_sd)
| ~ node94(X,Y) ),
inference(cnf_transformation,[],[m_Crane_22]) ).
cnf('3518',plain,
~ node94(c_s,s18),
inference(resolution,[],['3457','3517']) ).
cnf('3519',plain,
m_state_v_CVM(c_s,s19,c_idle),
inference(resolution,[then_simplify],['3488','3491','3492','3514','3515','3516','3518']) ).
cnf('3520',plain,
( ~ node87(c_s,s19,X)
| m_state_v_gripper_status(c_s,X,c_gripperstoppedat_ovf) ),
inference(resolution,[then_simplify],['3464','3465','3466','3519']) ).
cnf('3521',plain,
( ~ node86(c_s,s18,X)
| m_state_v_gripper_status(c_s,X,c_gripperstoppedat_sd) ),
inference(resolution,[],['3448','3437']) ).
cnf('3522',plain,
~ m_state_v_CVM(c_s,s18,c_idle),
inference(resolution,[],['3488','2180']) ).
cnf('3523',plain,
( m_state_v_CVM(X,Y,c_idle)
| ~ node84(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_194]) ).
cnf('3524',plain,
~ node84(c_s,s18),
inference(resolution,[],['3522','3523']) ).
cnf('3525',plain,
~ node85(c_s,s18),
inference(resolution,[],['3457','2230']) ).
cnf('3526',plain,
node87(c_s,s18,s19),
inference(resolution,[],['2205','3452']) ).
cnf('3527',plain,
( node86(c_s,s18,s19)
| node83(c_s,s18)
| node84(c_s,s18)
| node85(c_s,s18) ),
inference(resolution,[],['3526','2225']) ).
cnf('3528',plain,
~ node83(c_s,s18),
inference(resolution,[],['3455','2316']) ).
cnf('3529',plain,
( node86(c_s,s18,s19)
| node84(c_s,s18) ),
inference(resolution,[then_simplify],['3525','3527','3528']) ).
cnf('3530',plain,
node86(c_s,s18,s19),
inference(resolution,[],['3524','3529']) ).
cnf('3531',plain,
m_state_v_gripper_status(c_s,s19,c_gripperstoppedat_sd),
inference(resolution,[],['3521','3530']) ).
cnf('3532',plain,
~ m_state_v_gripper_status(c_s,s19,c_gripperstoppedat_ovf),
inference(resolution,[],['3531','2451']) ).
cnf('3533',plain,
~ node87(c_s,s19,s19),
inference(resolution,[],['3520','3532']) ).
cnf('3534',plain,
~ trans(s19,s19),
inference(resolution,[],['3533','2205']) ).
cnf('3535',plain,
node91(c_s,s18,s19),
inference(resolution,[],['2365','3452']) ).
cnf('3536',plain,
( ~ node91(X,Y,Z)
| ~ m_state_v_gvp(X,Y,c_ovf)
| ~ m_state_v_CVM(X,Y,c_down)
| m_state_v_CMag(X,Z,c_off)
| ~ m_state_v_gof(X,Y)
| node88(X,Y) ),
inference(cnf_transformation,[],[m_Crane_13]) ).
cnf('3537',plain,
( ~ m_state_v_gvp(c_s,s18,c_ovf)
| ~ m_state_v_CVM(c_s,s18,c_down)
| ~ m_state_v_gof(c_s,s18)
| m_state_v_CMag(c_s,s19,c_off)
| node88(c_s,s18) ),
inference(resolution,[],['3535','3536']) ).
cnf('3538',plain,
node74(c_s,s17,s18),
inference(resolution,[],['2482','3399']) ).
cnf('3539',plain,
( node73(c_s,s17,s18)
| m_state_v_CHM(c_s,s17,c_todepbelt)
| m_state_v_CHM(c_s,s17,c_tofeedbelt) ),
inference(resolution,[],['3538','2584']) ).
cnf('3540',plain,
node73(c_s,s17,s18),
inference(resolution,[then_simplify],['3503','3539','3508']) ).
cnf('3541',plain,
~ m_state_v_gob(c_s,s17),
inference(resolution,[then_simplify],['3478','2588','3483']) ).
cnf('3542',plain,
~ m_state_v_gob(c_s,s18),
inference(resolution,[then_simplify],['3540','2588','3541']) ).
cnf('3543',plain,
~ node88(c_s,s18),
inference(resolution,[],['3542','2489']) ).
cnf('3544',plain,
m_state_v_CMag(c_s,s19,c_off),
inference(resolution,[then_simplify],['3488','3537','3492','3514','3543']) ).
cnf('3545',plain,
( ~ node90(c_s,X,s1)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2377','2403']) ).
cnf('3546',plain,
~ node90(c_s,s19,s1),
inference(resolution,[],['3544','3545']) ).
cnf('3547',plain,
m_state_v_CVM(c_s,s19,c_idle),
inference(resolution,[then_simplify],['3488','3491','3492','3514','3515','3516','3518']) ).
cnf('3548',plain,
~ m_state_v_CVM(c_s,s19,c_down),
inference(resolution,[],['3547','2180']) ).
cnf('3549',plain,
( m_state_v_CVM(X,Y,c_down)
| ~ node89(X,Y) ),
inference(cnf_transformation,[],[m_Crane_7]) ).
cnf('3550',plain,
~ node89(c_s,s19),
inference(resolution,[],['3548','3549']) ).
cnf('3551',plain,
( ~ node104(c_s,s17,X)
| ~ m_state_v_CHM(c_s,X,c_tofeedbelt) ),
inference(resolution,[],['3503','2282']) ).
cnf('3552',plain,
~ node100(c_s,s17),
inference(resolution,[],['3473','2278']) ).
cnf('3553',plain,
~ node101(c_s,s17),
inference(resolution,[],['3503','2663']) ).
cnf('3554',plain,
node105(c_s,s17,s18),
inference(resolution,[],['2265','3399']) ).
cnf('3555',plain,
( node104(c_s,s17,s18)
| node100(c_s,s17)
| node101(c_s,s17)
| node102(c_s,s17)
| node103(c_s,s17) ),
inference(resolution,[],['3554','2267']) ).
cnf('3556',plain,
( ~ node90(c_s,s16,X)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3321','2375']) ).
cnf('3557',plain,
~ node89(c_s,s16),
inference(resolution,[],['3406','2333']) ).
cnf('3558',plain,
~ node88(c_s,s16),
inference(resolution,[],['3499','2489']) ).
cnf('3559',plain,
node91(c_s,s16,s17),
inference(resolution,[],['2365','3274']) ).
cnf('3560',plain,
( node90(c_s,s16,s17)
| node88(c_s,s16)
| node89(c_s,s16) ),
inference(resolution,[],['3559','2367']) ).
cnf('3561',plain,
( node90(c_s,s16,s17)
| node89(c_s,s16) ),
inference(resolution,[],['3558','3560']) ).
cnf('3562',plain,
node90(c_s,s16,s17),
inference(resolution,[],['3557','3561']) ).
cnf('3563',plain,
~ m_state_v_CMag(c_s,s17,c_off),
inference(resolution,[],['3556','3562']) ).
cnf('3564',plain,
~ node102(c_s,s17),
inference(resolution,[],['3563','2474']) ).
cnf('3565',plain,
~ node103(c_s,s17),
inference(resolution,[],['3484','2668']) ).
cnf('3566',plain,
( node104(c_s,s17,s18)
| node100(c_s,s17) ),
inference(resolution,[then_simplify],['3553','3555','3564','3565']) ).
cnf('3567',plain,
node104(c_s,s17,s18),
inference(resolution,[],['3552','3566']) ).
cnf('3568',plain,
~ m_state_v_CHM(c_s,s18,c_tofeedbelt),
inference(resolution,[],['3551','3567']) ).
cnf('3569',plain,
node74(c_s,s18,s19),
inference(resolution,[],['2482','3452']) ).
cnf('3570',plain,
( node73(c_s,s18,s19)
| m_state_v_CHM(c_s,s18,c_todepbelt)
| m_state_v_CHM(c_s,s18,c_tofeedbelt) ),
inference(resolution,[],['3569','2584']) ).
cnf('3571',plain,
~ m_state_v_CHM(c_s,s17,c_todepbelt),
inference(resolution,[],['3507','3502']) ).
cnf('3572',plain,
( ~ node104(c_s,s17,X)
| ~ m_state_v_CHM(c_s,X,c_todepbelt) ),
inference(resolution,[],['3571','2282']) ).
cnf('3573',plain,
~ m_state_v_CHM(c_s,s18,c_todepbelt),
inference(resolution,[],['3572','3567']) ).
cnf('3574',plain,
node73(c_s,s18,s19),
inference(resolution,[then_simplify],['3568','3570','3573']) ).
cnf('3575',plain,
~ m_state_v_gob(c_s,s18),
inference(resolution,[then_simplify],['3540','2588','3541']) ).
cnf('3576',plain,
~ m_state_v_gob(c_s,s19),
inference(resolution,[then_simplify],['3574','2588','3575']) ).
cnf('3577',plain,
~ node88(c_s,s19),
inference(resolution,[],['3576','2489']) ).
cnf('3578',plain,
~ node91(c_s,s19,s1),
inference(resolution,[then_simplify],['3546','2367','3550','3577']) ).
cnf('3579',plain,
~ trans(s19,s1),
inference(resolution,[],['3578','2365']) ).
cnf('3580',plain,
( ~ $pr(loop)
| trans(s19,s9)
| trans(s19,s8)
| trans(s19,s7)
| trans(s19,s10)
| trans(s19,s6)
| trans(s19,s11)
| trans(s19,s5)
| trans(s19,s12)
| trans(s19,s4)
| trans(s19,s13)
| trans(s19,s3)
| trans(s19,s14)
| trans(s19,s2)
| trans(s19,s15)
| trans(s19,s1)
| trans(s19,s16)
| trans(s19,s0)
| trans(s19,s17)
| trans(s19,s18)
| trans(s19,s19) ),
inference(cnf_transformation,[],[bound22]) ).
cnf('3581',plain,
( ~ node90(c_s,X,s9)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2926','2403']) ).
cnf('3582',plain,
~ node90(c_s,s19,s9),
inference(resolution,[],['3544','3581']) ).
cnf('3583',plain,
~ node91(c_s,s19,s9),
inference(resolution,[then_simplify],['3582','2367','3550','3577']) ).
cnf('3584',plain,
~ trans(s19,s9),
inference(resolution,[],['3583','2365']) ).
cnf('3585',plain,
( ~ node90(c_s,X,s8)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2834','2403']) ).
cnf('3586',plain,
~ node90(c_s,s19,s8),
inference(resolution,[],['3544','3585']) ).
cnf('3587',plain,
~ node91(c_s,s19,s8),
inference(resolution,[then_simplify],['3586','2367','3550','3577']) ).
cnf('3588',plain,
~ trans(s19,s8),
inference(resolution,[],['3587','2365']) ).
cnf('3589',plain,
( ~ node90(c_s,X,s7)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2597','2403']) ).
cnf('3590',plain,
~ node90(c_s,s19,s7),
inference(resolution,[],['3544','3589']) ).
cnf('3591',plain,
~ node91(c_s,s19,s7),
inference(resolution,[then_simplify],['3590','2367','3550','3577']) ).
cnf('3592',plain,
~ trans(s19,s7),
inference(resolution,[],['3591','2365']) ).
cnf('3593',plain,
( ~ node90(c_s,X,s10)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3003','2403']) ).
cnf('3594',plain,
~ node90(c_s,s19,s10),
inference(resolution,[],['3544','3593']) ).
cnf('3595',plain,
~ node91(c_s,s19,s10),
inference(resolution,[then_simplify],['3594','2367','3550','3577']) ).
cnf('3596',plain,
~ trans(s19,s10),
inference(resolution,[],['3595','2365']) ).
cnf('3597',plain,
( ~ node90(c_s,X,s6)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2604','2403']) ).
cnf('3598',plain,
~ node90(c_s,s19,s6),
inference(resolution,[],['3544','3597']) ).
cnf('3599',plain,
~ node91(c_s,s19,s6),
inference(resolution,[then_simplify],['3598','2367','3550','3577']) ).
cnf('3600',plain,
~ trans(s19,s6),
inference(resolution,[],['3599','2365']) ).
cnf('3601',plain,
( ~ node90(c_s,X,s11)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3041','2403']) ).
cnf('3602',plain,
~ node90(c_s,s19,s11),
inference(resolution,[],['3544','3601']) ).
cnf('3603',plain,
~ node91(c_s,s19,s11),
inference(resolution,[then_simplify],['3602','2367','3550','3577']) ).
cnf('3604',plain,
~ trans(s19,s11),
inference(resolution,[],['3603','2365']) ).
cnf('3605',plain,
( ~ node90(c_s,X,s5)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2611','2403']) ).
cnf('3606',plain,
~ node90(c_s,s19,s5),
inference(resolution,[],['3544','3605']) ).
cnf('3607',plain,
~ node91(c_s,s19,s5),
inference(resolution,[then_simplify],['3606','2367','3550','3577']) ).
cnf('3608',plain,
~ trans(s19,s5),
inference(resolution,[],['3607','2365']) ).
cnf('3609',plain,
( ~ node90(c_s,X,s12)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3033','2403']) ).
cnf('3610',plain,
~ node90(c_s,s19,s12),
inference(resolution,[],['3544','3609']) ).
cnf('3611',plain,
~ node91(c_s,s19,s12),
inference(resolution,[then_simplify],['3610','2367','3550','3577']) ).
cnf('3612',plain,
~ trans(s19,s12),
inference(resolution,[],['3611','2365']) ).
cnf('3613',plain,
( ~ node90(c_s,X,s4)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2396','2403']) ).
cnf('3614',plain,
~ node90(c_s,s19,s4),
inference(resolution,[],['3544','3613']) ).
cnf('3615',plain,
~ node91(c_s,s19,s4),
inference(resolution,[then_simplify],['3614','2367','3550','3577']) ).
cnf('3616',plain,
~ trans(s19,s4),
inference(resolution,[],['3615','2365']) ).
cnf('3617',plain,
( ~ node90(c_s,X,s13)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3025','2403']) ).
cnf('3618',plain,
~ node90(c_s,s19,s13),
inference(resolution,[],['3544','3617']) ).
cnf('3619',plain,
~ node91(c_s,s19,s13),
inference(resolution,[then_simplify],['3618','2367','3550','3577']) ).
cnf('3620',plain,
~ trans(s19,s13),
inference(resolution,[],['3619','2365']) ).
cnf('3621',plain,
( ~ node90(c_s,X,s3)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2389','2403']) ).
cnf('3622',plain,
~ node90(c_s,s19,s3),
inference(resolution,[],['3544','3621']) ).
cnf('3623',plain,
~ node91(c_s,s19,s3),
inference(resolution,[then_simplify],['3622','2367','3550','3577']) ).
cnf('3624',plain,
~ trans(s19,s3),
inference(resolution,[],['3623','2365']) ).
cnf('3625',plain,
( ~ node90(c_s,X,s14)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3215','2403']) ).
cnf('3626',plain,
~ node90(c_s,s19,s14),
inference(resolution,[],['3544','3625']) ).
cnf('3627',plain,
~ node91(c_s,s19,s14),
inference(resolution,[then_simplify],['3626','2367','3550','3577']) ).
cnf('3628',plain,
~ trans(s19,s14),
inference(resolution,[],['3627','2365']) ).
cnf('3629',plain,
( ~ node90(c_s,X,s2)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['2384','2403']) ).
cnf('3630',plain,
~ node90(c_s,s19,s2),
inference(resolution,[],['3544','3629']) ).
cnf('3631',plain,
~ node91(c_s,s19,s2),
inference(resolution,[then_simplify],['3630','2367','3550','3577']) ).
cnf('3632',plain,
~ trans(s19,s2),
inference(resolution,[],['3631','2365']) ).
cnf('3633',plain,
( ~ node90(c_s,X,s15)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3302','2403']) ).
cnf('3634',plain,
~ node90(c_s,s19,s15),
inference(resolution,[],['3544','3633']) ).
cnf('3635',plain,
~ node91(c_s,s19,s15),
inference(resolution,[then_simplify],['3634','2367','3550','3577']) ).
cnf('3636',plain,
~ trans(s19,s15),
inference(resolution,[],['3635','2365']) ).
cnf('3637',plain,
( ~ node90(c_s,X,s16)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3321','2403']) ).
cnf('3638',plain,
~ node90(c_s,s19,s16),
inference(resolution,[],['3544','3637']) ).
cnf('3639',plain,
~ node91(c_s,s19,s16),
inference(resolution,[then_simplify],['3638','2367','3550','3577']) ).
cnf('3640',plain,
~ trans(s19,s16),
inference(resolution,[],['3639','2365']) ).
cnf('3641',plain,
( ~ node90(X,Y,s0)
| ~ m_state_v_CMag(X,Y,c_off) ),
inference(resolution,[],['2403','2170']) ).
cnf('3642',plain,
~ node90(c_s,s19,s0),
inference(resolution,[],['3544','3641']) ).
cnf('3643',plain,
~ node91(c_s,s19,s0),
inference(resolution,[then_simplify],['3642','2367','3550','3577']) ).
cnf('3644',plain,
~ trans(s19,s0),
inference(resolution,[],['3643','2365']) ).
cnf('3645',plain,
( ~ node90(c_s,X,s17)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3563','2403']) ).
cnf('3646',plain,
~ node90(c_s,s19,s17),
inference(resolution,[],['3544','3645']) ).
cnf('3647',plain,
~ node91(c_s,s19,s17),
inference(resolution,[then_simplify],['3646','2367','3550','3577']) ).
cnf('3648',plain,
~ trans(s19,s17),
inference(resolution,[],['3647','2365']) ).
cnf('3649',plain,
( ~ node90(c_s,s17,X)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3563','2375']) ).
cnf('3650',plain,
~ node89(c_s,s17),
inference(resolution,[],['3444','2333']) ).
cnf('3651',plain,
~ node88(c_s,s17),
inference(resolution,[],['3484','2489']) ).
cnf('3652',plain,
node91(c_s,s17,s18),
inference(resolution,[],['2365','3399']) ).
cnf('3653',plain,
( node90(c_s,s17,s18)
| node88(c_s,s17)
| node89(c_s,s17) ),
inference(resolution,[],['3652','2367']) ).
cnf('3654',plain,
( node90(c_s,s17,s18)
| node89(c_s,s17) ),
inference(resolution,[],['3651','3653']) ).
cnf('3655',plain,
node90(c_s,s17,s18),
inference(resolution,[],['3650','3654']) ).
cnf('3656',plain,
~ m_state_v_CMag(c_s,s18,c_off),
inference(resolution,[],['3649','3655']) ).
cnf('3657',plain,
( ~ node90(c_s,X,s18)
| ~ m_state_v_CMag(c_s,X,c_off) ),
inference(resolution,[],['3656','2403']) ).
cnf('3658',plain,
~ node90(c_s,s19,s18),
inference(resolution,[],['3544','3657']) ).
cnf('3659',plain,
~ node91(c_s,s19,s18),
inference(resolution,[then_simplify],['3658','2367','3550','3577']) ).
cnf('3660',plain,
~ trans(s19,s18),
inference(resolution,[],['3659','2365']) ).
cnf('3661',plain,
( ~ $pr(loop)
| trans(s19,s19) ),
inference(resolution,[then_simplify],['3579','3580','3584','3588','3592','3596','3600','3604','3608','3612','3616','3620','3624','3628','3632','3636','3640','3644','3648','3660']) ).
cnf('3662',plain,
~ $pr(loop),
inference(resolution,[],['3534','3661']) ).
cnf('3663',plain,
last(s19),
inference(cnf_transformation,[],[bound20]) ).
cnf('3664',plain,
( $pr(loop)
| ~ xuntil217(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty106]) ).
cnf('3665',plain,
( ~ xuntil217(s19)
| $pr(loop) ),
inference(resolution,[],['3663','3664']) ).
cnf('3666',plain,
~ xuntil217(s19),
inference(resolution,[],['3662','3665']) ).
cnf('3667',plain,
( ~ until216(X)
| xuntil217(X)
| node215(X) ),
inference(cnf_transformation,[],[prpty104]) ).
cnf('3668',plain,
( m_state_v_CVM(c_s,X,c_down)
| ~ node215(X) ),
inference(cnf_transformation,[],[prpty100]) ).
cnf('3669',plain,
~ node215(s19),
inference(resolution,[],['3548','3668']) ).
cnf('3670',plain,
~ until216(s19),
inference(resolution,[then_simplify],['3666','3667','3669']) ).
cnf('3671',plain,
( ~ node220(X)
| until216(X)
| node213(X) ),
inference(cnf_transformation,[],[prpty111]) ).
cnf('3672',plain,
( m_state_v_gob(c_s,X)
| ~ node213(X) ),
inference(cnf_transformation,[],[prpty90]) ).
cnf('3673',plain,
~ node213(s19),
inference(resolution,[],['3576','3672']) ).
cnf('3674',plain,
~ node220(s19),
inference(resolution,[then_simplify],['3670','3671','3673']) ).
cnf('3675',plain,
( ~ until221(X)
| xuntil222(X)
| node220(X) ),
inference(cnf_transformation,[],[prpty112]) ).
cnf('3676',plain,
( $pr(loop)
| ~ xuntil222(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty114]) ).
cnf('3677',plain,
( ~ xuntil222(s19)
| $pr(loop) ),
inference(resolution,[],['3663','3676']) ).
cnf('3678',plain,
~ xuntil222(s19),
inference(resolution,[],['3662','3677']) ).
cnf('3679',plain,
~ until221(s19),
inference(resolution,[then_simplify],['3674','3675','3678']) ).
cnf('3680',plain,
( ~ node225(X)
| until221(X)
| node211(X) ),
inference(cnf_transformation,[],[prpty119]) ).
cnf('3681',plain,
( ~ node41(c_s,s10,X)
| m_state_v_angle(c_s,X,c_arm2topress) ),
inference(resolution,[],['1225','96']) ).
cnf('3682',plain,
( ~ node47(c_s,s9,X)
| m_state_v_angle_status(c_s,X,c_arm1stoppedattable) ),
inference(resolution,[],['1207','1191']) ).
cnf('3683',plain,
~ m_state_v_angle(c_s,s8,c_arm1topress),
inference(resolution,[],['1108','27']) ).
cnf('3684',plain,
( m_state_v_angle(X,Y,c_arm1topress)
| ~ node156(X,Y) ),
inference(cnf_transformation,[],[m_Robot_166]) ).
cnf('3685',plain,
~ node156(c_s,s8),
inference(resolution,[],['3683','3684']) ).
cnf('3686',plain,
~ node142(c_s,s7),
inference(resolution,[],['1672','216']) ).
cnf('3687',plain,
node145(c_s,s7,s8),
inference(resolution,[],['105','1099']) ).
cnf('3688',plain,
( node144(c_s,s7,s8)
| node142(c_s,s7)
| node143(c_s,s7) ),
inference(resolution,[],['3687','107']) ).
cnf('3689',plain,
~ node143(c_s,s7),
inference(resolution,[],['1674','210']) ).
cnf('3690',plain,
node144(c_s,s7,s8),
inference(resolution,[then_simplify],['3686','3688','3689']) ).
cnf('3691',plain,
( ~ m_state_v_A1Mag(c_s,s7,X)
| m_state_v_A1Mag(c_s,s8,X) ),
inference(resolution,[],['3690','219']) ).
cnf('3692',plain,
~ node142(c_s,s6),
inference(resolution,[],['1115','112']) ).
cnf('3693',plain,
node145(c_s,s6,s7),
inference(resolution,[],['105','949']) ).
cnf('3694',plain,
( node144(c_s,s6,s7)
| node142(c_s,s6)
| node143(c_s,s6) ),
inference(resolution,[],['3693','107']) ).
cnf('3695',plain,
( m_state_v_A1M(X,Y,c_extend)
| ~ node143(X,Y) ),
inference(cnf_transformation,[],[m_Robot_111]) ).
cnf('3696',plain,
~ node143(c_s,s6),
inference(resolution,[],['1115','3695']) ).
cnf('3697',plain,
node144(c_s,s6,s7),
inference(resolution,[then_simplify],['3692','3694','3696']) ).
cnf('3698',plain,
( ~ m_state_v_A1Mag(c_s,s6,X)
| m_state_v_A1Mag(c_s,s7,X) ),
inference(resolution,[],['3697','219']) ).
cnf('3699',plain,
( ~ node144(c_s,s5,X)
| m_state_v_A1Mag(c_s,X,c_on) ),
inference(resolution,[],['836','219']) ).
cnf('3700',plain,
~ node142(c_s,s5),
inference(resolution,[],['961','112']) ).
cnf('3701',plain,
node145(c_s,s5,s6),
inference(resolution,[],['105','704']) ).
cnf('3702',plain,
( node144(c_s,s5,s6)
| node142(c_s,s5)
| node143(c_s,s5) ),
inference(resolution,[],['3701','107']) ).
cnf('3703',plain,
~ node143(c_s,s5),
inference(resolution,[],['961','3695']) ).
cnf('3704',plain,
node144(c_s,s5,s6),
inference(resolution,[then_simplify],['3700','3702','3703']) ).
cnf('3705',plain,
m_state_v_A1Mag(c_s,s6,c_on),
inference(resolution,[],['3699','3704']) ).
cnf('3706',plain,
m_state_v_A1Mag(c_s,s7,c_on),
inference(resolution,[],['3698','3705']) ).
cnf('3707',plain,
m_state_v_A1Mag(c_s,s8,c_on),
inference(resolution,[],['3691','3706']) ).
cnf('3708',plain,
~ m_state_v_A1Mag(c_s,s8,c_off),
inference(resolution,[],['3707','15']) ).
cnf('3709',plain,
~ node157(c_s,s8),
inference(resolution,[],['3708','838']) ).
cnf('3710',plain,
~ m_state_v_A2M(c_s,s5,c_extend),
inference(resolution,[],['928','299']) ).
cnf('3711',plain,
( ~ node140(c_s,s5,X)
| ~ m_state_v_A2M(c_s,X,c_extend) ),
inference(resolution,[],['3710','347']) ).
cnf('3712',plain,
~ m_state_v_A2M(c_s,s6,c_extend),
inference(resolution,[],['1076','3711']) ).
cnf('3713',plain,
~ node34(c_s,s6),
inference(resolution,[],['3712','647']) ).
cnf('3714',plain,
node36(c_s,s6,s7),
inference(resolution,[],['294','949']) ).
cnf('3715',plain,
( m_state_v_A2M(c_s,s6,c_retract)
| node35(c_s,s6,s7)
| node33(c_s,s6)
| node34(c_s,s6) ),
inference(resolution,[],['3714','296']) ).
cnf('3716',plain,
~ m_state_v_A2M(c_s,s6,c_retract),
inference(resolution,[],['1076','1077']) ).
cnf('3717',plain,
~ node33(c_s,s6),
inference(resolution,[],['3712','301']) ).
cnf('3718',plain,
node35(c_s,s6,s7),
inference(resolution,[then_simplify],['3713','3715','3716','3717']) ).
cnf('3719',plain,
( m_state_v_a2ext(X,Y,c_ob)
| m_state_v_a2ext(X,Y,c_a2ip)
| m_state_v_a2ext(X,Y,c_retracted) ),
inference(cnf_transformation,[],[m_state_47]) ).
cnf('3720',plain,
~ m_state_v_a2ext(c_s,s4,c_a2ip),
inference(resolution,[],['854','851']) ).
cnf('3721',plain,
m_state_v_a2ext(c_s,s4,c_retracted),
inference(resolution,[then_simplify],['852','3719','3720']) ).
cnf('3722',plain,
( ~ node35(c_s,s4,X)
| m_state_v_a2ext(c_s,X,c_retracted) ),
inference(resolution,[],['3721','430']) ).
cnf('3723',plain,
m_state_v_a2ext(c_s,s5,c_retracted),
inference(resolution,[],['1048','3722']) ).
cnf('3724',plain,
( ~ node35(c_s,s5,X)
| m_state_v_a2ext(c_s,X,c_retracted) ),
inference(resolution,[],['3723','430']) ).
cnf('3725',plain,
~ node34(c_s,s5),
inference(resolution,[],['3710','647']) ).
cnf('3726',plain,
node36(c_s,s5,s6),
inference(resolution,[],['294','704']) ).
cnf('3727',plain,
( m_state_v_A2M(c_s,s5,c_retract)
| node35(c_s,s5,s6)
| node33(c_s,s5)
| node34(c_s,s5) ),
inference(resolution,[],['3726','296']) ).
cnf('3728',plain,
~ m_state_v_A2M(c_s,s5,c_retract),
inference(resolution,[],['928','36']) ).
cnf('3729',plain,
~ node33(c_s,s5),
inference(resolution,[],['3710','301']) ).
cnf('3730',plain,
node35(c_s,s5,s6),
inference(resolution,[then_simplify],['3725','3727','3728','3729']) ).
cnf('3731',plain,
m_state_v_a2ext(c_s,s6,c_retracted),
inference(resolution,[],['3724','3730']) ).
cnf('3732',plain,
~ m_state_v_a2ext(c_s,s6,c_a2ip),
inference(resolution,[],['3731','313']) ).
cnf('3733',plain,
( ~ node35(c_s,s6,X)
| ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
inference(resolution,[],['3732','305']) ).
cnf('3734',plain,
~ m_state_v_a2ext(c_s,s7,c_a2ip),
inference(resolution,[],['3718','3733']) ).
cnf('3735',plain,
~ node146(c_s,s7),
inference(resolution,[],['3734','405']) ).
cnf('3736',plain,
node149(c_s,s7,s8),
inference(resolution,[],['400','1099']) ).
cnf('3737',plain,
( node148(c_s,s7,s8)
| node146(c_s,s7)
| node147(c_s,s7) ),
inference(resolution,[],['3736','402']) ).
cnf('3738',plain,
~ m_state_v_a2ext(c_s,s6,c_ob),
inference(resolution,[],['3731','306']) ).
cnf('3739',plain,
( ~ node35(c_s,s6,X)
| ~ m_state_v_a2ext(c_s,X,c_ob) ),
inference(resolution,[],['3738','305']) ).
cnf('3740',plain,
~ m_state_v_a2ext(c_s,s7,c_ob),
inference(resolution,[],['3718','3739']) ).
cnf('3741',plain,
~ node147(c_s,s7),
inference(resolution,[],['3740','403']) ).
cnf('3742',plain,
node148(c_s,s7,s8),
inference(resolution,[then_simplify],['3735','3737','3741']) ).
cnf('3743',plain,
( ~ node148(c_s,s6,X)
| ~ m_state_v_A2Mag(c_s,X,c_on) ),
inference(resolution,[],['1059','408']) ).
cnf('3744',plain,
~ node147(c_s,s6),
inference(resolution,[],['3738','403']) ).
cnf('3745',plain,
node149(c_s,s6,s7),
inference(resolution,[],['400','949']) ).
cnf('3746',plain,
( node148(c_s,s6,s7)
| node146(c_s,s6)
| node147(c_s,s6) ),
inference(resolution,[],['3745','402']) ).
cnf('3747',plain,
~ node146(c_s,s6),
inference(resolution,[],['3732','405']) ).
cnf('3748',plain,
node148(c_s,s6,s7),
inference(resolution,[then_simplify],['3744','3746','3747']) ).
cnf('3749',plain,
~ m_state_v_A2Mag(c_s,s7,c_on),
inference(resolution,[],['3743','3748']) ).
cnf('3750',plain,
( ~ node148(c_s,s7,X)
| ~ m_state_v_A2Mag(c_s,X,c_on) ),
inference(resolution,[],['3749','408']) ).
cnf('3751',plain,
~ m_state_v_A2Mag(c_s,s8,c_on),
inference(resolution,[],['3742','3750']) ).
cnf('3752',plain,
~ node155(c_s,s8),
inference(resolution,[],['3751','23']) ).
cnf('3753',plain,
~ m_state_v_angle(c_s,s8,c_arm2topress),
inference(resolution,[],['1108','130']) ).
cnf('3754',plain,
( m_state_v_angle(X,Y,c_arm2topress)
| ~ node154(X,Y) ),
inference(cnf_transformation,[],[m_Robot_150]) ).
cnf('3755',plain,
~ node154(c_s,s8),
inference(resolution,[],['3753','3754']) ).
cnf('3756',plain,
~ node153(c_s,s8),
inference(resolution,[],['1679','283']) ).
cnf('3757',plain,
( ~ node140(c_s,s6,X)
| ~ m_state_v_A2M(c_s,X,c_retract) ),
inference(resolution,[],['1078','347']) ).
cnf('3758',plain,
( m_state_v_A1M(X,Y,c_idle)
| ~ node132(X,Y) ),
inference(cnf_transformation,[],[m_Robot_59]) ).
cnf('3759',plain,
~ node132(c_s,s6),
inference(resolution,[],['1037','3758']) ).
cnf('3760',plain,
~ node138(c_s,s6),
inference(resolution,[],['1078','351']) ).
cnf('3761',plain,
~ node137(c_s,s6),
inference(resolution,[],['3738','311']) ).
cnf('3762',plain,
node141(c_s,s6,s7),
inference(resolution,[],['286','949']) ).
cnf('3763',plain,
( node140(c_s,s6,s7)
| node132(c_s,s6)
| node133(c_s,s6)
| node134(c_s,s6)
| node135(c_s,s6)
| node136(c_s,s6)
| node137(c_s,s6)
| node138(c_s,s6)
| node139(c_s,s6) ),
inference(resolution,[],['3762','288']) ).
cnf('3764',plain,
~ node133(c_s,s6),
inference(resolution,[],['1059','675']) ).
cnf('3765',plain,
~ node134(c_s,s6),
inference(resolution,[],['3732','321']) ).
cnf('3766',plain,
~ node135(c_s,s6),
inference(resolution,[],['3738','319']) ).
cnf('3767',plain,
~ node136(c_s,s6),
inference(resolution,[],['1059','355']) ).
cnf('3768',plain,
( node140(c_s,s6,s7)
| node132(c_s,s6)
| node138(c_s,s6)
| node139(c_s,s6) ),
inference(resolution,[then_simplify],['3761','3763','3764','3765','3766','3767']) ).
cnf('3769',plain,
~ node139(c_s,s6),
inference(resolution,[],['1078','569']) ).
cnf('3770',plain,
( node140(c_s,s6,s7)
| node132(c_s,s6) ),
inference(resolution,[then_simplify],['3760','3768','3769']) ).
cnf('3771',plain,
node140(c_s,s6,s7),
inference(resolution,[],['3759','3770']) ).
cnf('3772',plain,
~ m_state_v_A2M(c_s,s7,c_retract),
inference(resolution,[],['3757','3771']) ).
cnf('3773',plain,
( ~ node140(c_s,s7,X)
| ~ m_state_v_A2M(c_s,X,c_retract) ),
inference(resolution,[],['3772','347']) ).
cnf('3774',plain,
~ node132(c_s,s7),
inference(resolution,[],['1627','3758']) ).
cnf('3775',plain,
~ node138(c_s,s7),
inference(resolution,[],['3772','351']) ).
cnf('3776',plain,
~ node136(c_s,s7),
inference(resolution,[],['3749','355']) ).
cnf('3777',plain,
node141(c_s,s7,s8),
inference(resolution,[],['286','1099']) ).
cnf('3778',plain,
( node140(c_s,s7,s8)
| node132(c_s,s7)
| node133(c_s,s7)
| node134(c_s,s7)
| node135(c_s,s7)
| node136(c_s,s7)
| node137(c_s,s7)
| node138(c_s,s7)
| node139(c_s,s7) ),
inference(resolution,[],['3777','288']) ).
cnf('3779',plain,
~ node133(c_s,s7),
inference(resolution,[],['3749','675']) ).
cnf('3780',plain,
( node140(c_s,s7,s8)
| node132(c_s,s7)
| node134(c_s,s7)
| node135(c_s,s7)
| node137(c_s,s7)
| node138(c_s,s7)
| node139(c_s,s7) ),
inference(resolution,[then_simplify],['3776','3778','3779']) ).
cnf('3781',plain,
~ node134(c_s,s7),
inference(resolution,[],['3734','321']) ).
cnf('3782',plain,
~ node135(c_s,s7),
inference(resolution,[],['3740','319']) ).
cnf('3783',plain,
~ node137(c_s,s7),
inference(resolution,[],['3740','311']) ).
cnf('3784',plain,
~ node139(c_s,s7),
inference(resolution,[],['3772','569']) ).
cnf('3785',plain,
( node140(c_s,s7,s8)
| node132(c_s,s7) ),
inference(resolution,[then_simplify],['3775','3780','3781','3782','3783','3784']) ).
cnf('3786',plain,
node140(c_s,s7,s8),
inference(resolution,[],['3774','3785']) ).
cnf('3787',plain,
~ m_state_v_A2M(c_s,s8,c_retract),
inference(resolution,[],['3773','3786']) ).
cnf('3788',plain,
~ node152(c_s,s8),
inference(resolution,[],['3787','368']) ).
cnf('3789',plain,
~ node151(c_s,s8),
inference(resolution,[],['3787','39']) ).
cnf('3790',plain,
~ node150(c_s,s8),
inference(resolution,[],['1679','44']) ).
cnf('3791',plain,
( ~ node159(c_s,s8,X)
| node158(c_s,s8,X) ),
inference(resolution,[then_simplify],['3685','9','3709','3752','3755','3756','3788','3789','3790']) ).
cnf('3792',plain,
node159(c_s,s8,s9),
inference(resolution,[],['4','1110']) ).
cnf('3793',plain,
node158(c_s,s8,s9),
inference(resolution,[],['3791','3792']) ).
cnf('3794',plain,
( ~ node158(c_s,s8,X)
| ~ m_state_v_RRM(c_s,X,c_idle) ),
inference(resolution,[],['1194','48']) ).
cnf('3795',plain,
~ m_state_v_RRM(c_s,s9,c_idle),
inference(resolution,[],['3793','3794']) ).
cnf('3796',plain,
~ node44(c_s,s9),
inference(resolution,[],['3795','1202']) ).
cnf('3797',plain,
( m_state_v_angle(X,Y,c_arm1topress)
| ~ node46(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_84]) ).
cnf('3798',plain,
~ node46(c_s,s9),
inference(resolution,[],['1211','3797']) ).
cnf('3799',plain,
node48(c_s,s9,s10),
inference(resolution,[],['64','1214']) ).
cnf('3800',plain,
( node47(c_s,s9,s10)
| node43(c_s,s9)
| node44(c_s,s9)
| node45(c_s,s9)
| node46(c_s,s9) ),
inference(resolution,[],['3799','1198']) ).
cnf('3801',plain,
( m_state_v_angle(X,Y,c_arm1totable)
| ~ node43(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_78]) ).
cnf('3802',plain,
~ node43(c_s,s9),
inference(resolution,[],['1217','3801']) ).
cnf('3803',plain,
( m_state_v_angle(X,Y,c_arm2todepbelt)
| ~ node45(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_82]) ).
cnf('3804',plain,
~ node45(c_s,s9),
inference(resolution,[],['1221','3803']) ).
cnf('3805',plain,
( node47(c_s,s9,s10)
| node44(c_s,s9) ),
inference(resolution,[then_simplify],['3798','3800','3802','3804']) ).
cnf('3806',plain,
node47(c_s,s9,s10),
inference(resolution,[],['3796','3805']) ).
cnf('3807',plain,
m_state_v_angle_status(c_s,s10,c_arm1stoppedattable),
inference(resolution,[],['3682','3806']) ).
cnf('3808',plain,
~ m_state_v_angle_status(c_s,s10,c_arm2stoppedatpress),
inference(resolution,[],['3807','80']) ).
cnf('3809',plain,
~ node38(c_s,s10),
inference(resolution,[],['3808','82']) ).
cnf('3810',plain,
~ m_state_v_angle(c_s,s10,c_arm1topress),
inference(resolution,[],['1225','1210']) ).
cnf('3811',plain,
~ node40(c_s,s10),
inference(resolution,[],['3810','87']) ).
cnf('3812',plain,
node42(c_s,s10,s11),
inference(resolution,[],['58','1610']) ).
cnf('3813',plain,
( node41(c_s,s10,s11)
| node37(c_s,s10)
| node38(c_s,s10)
| node39(c_s,s10)
| node40(c_s,s10) ),
inference(resolution,[],['3812','62']) ).
cnf('3814',plain,
~ node37(c_s,s10),
inference(resolution,[],['1226','1218']) ).
cnf('3815',plain,
~ m_state_v_angle(c_s,s10,c_arm2todepbelt),
inference(resolution,[],['1225','1220']) ).
cnf('3816',plain,
~ node39(c_s,s10),
inference(resolution,[],['3815','89']) ).
cnf('3817',plain,
( node41(c_s,s10,s11)
| node38(c_s,s10) ),
inference(resolution,[then_simplify],['3811','3813','3814','3816']) ).
cnf('3818',plain,
node41(c_s,s10,s11),
inference(resolution,[],['3809','3817']) ).
cnf('3819',plain,
m_state_v_angle(c_s,s11,c_arm2topress),
inference(resolution,[],['3681','3818']) ).
cnf('3820',plain,
( ~ node41(c_s,s11,X)
| m_state_v_angle(c_s,X,c_arm2topress) ),
inference(resolution,[],['3819','96']) ).
cnf('3821',plain,
( ~ node158(X,Y,Z)
| ~ m_state_v_RRM(X,Y,U)
| m_state_v_RRM(X,Z,U) ),
inference(cnf_transformation,[],[m_Robot_175]) ).
cnf('3822',plain,
( ~ node158(c_s,s8,X)
| m_state_v_RRM(c_s,X,c_counterclock) ),
inference(resolution,[],['1193','3821']) ).
cnf('3823',plain,
m_state_v_RRM(c_s,s9,c_counterclock),
inference(resolution,[],['3793','3822']) ).
cnf('3824',plain,
( ~ node159(X,Y,Z)
| ~ m_state_v_A2Mag(X,Y,c_off)
| ~ m_state_v_A1Mag(X,Y,c_on)
| ~ m_state_v_RRM(X,Y,c_counterclock)
| ~ m_state_v_a2ext(X,Y,c_retracted)
| ~ m_state_v_A2M(X,Y,c_idle)
| ~ m_state_v_a1ext(X,Y,c_retracted)
| ~ m_state_v_A1M(X,Y,c_idle)
| ~ m_state_v_angle(X,Y,c_arm2topress)
| m_state_v_RRM(X,Z,c_idle)
| node153(X,Y)
| node152(X,Y)
| node151(X,Y)
| node150(X,Y) ),
inference(cnf_transformation,[],[m_Robot_181]) ).
cnf('3825',plain,
m_state_v_A2Mag(c_s,s7,c_off),
inference(resolution,[],['3749','420']) ).
cnf('3826',plain,
( ~ node148(c_s,s7,X)
| m_state_v_A2Mag(c_s,X,c_off) ),
inference(resolution,[],['3825','642']) ).
cnf('3827',plain,
m_state_v_A2Mag(c_s,s8,c_off),
inference(resolution,[],['3742','3826']) ).
cnf('3828',plain,
( ~ node148(c_s,s8,X)
| m_state_v_A2Mag(c_s,X,c_off) ),
inference(resolution,[],['3827','642']) ).
cnf('3829',plain,
( ~ node35(c_s,s7,X)
| ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
inference(resolution,[],['3734','305']) ).
cnf('3830',plain,
( ~ node140(c_s,s6,X)
| ~ m_state_v_A2M(c_s,X,c_extend) ),
inference(resolution,[],['3712','347']) ).
cnf('3831',plain,
~ m_state_v_A2M(c_s,s7,c_extend),
inference(resolution,[],['3830','3771']) ).
cnf('3832',plain,
~ node34(c_s,s7),
inference(resolution,[],['3831','647']) ).
cnf('3833',plain,
node36(c_s,s7,s8),
inference(resolution,[],['294','1099']) ).
cnf('3834',plain,
( m_state_v_A2M(c_s,s7,c_retract)
| node35(c_s,s7,s8)
| node33(c_s,s7)
| node34(c_s,s7) ),
inference(resolution,[],['3833','296']) ).
cnf('3835',plain,
~ m_state_v_A2M(c_s,s7,c_retract),
inference(resolution,[],['3757','3771']) ).
cnf('3836',plain,
~ node33(c_s,s7),
inference(resolution,[],['3831','301']) ).
cnf('3837',plain,
node35(c_s,s7,s8),
inference(resolution,[then_simplify],['3832','3834','3835','3836']) ).
cnf('3838',plain,
~ m_state_v_a2ext(c_s,s8,c_a2ip),
inference(resolution,[],['3829','3837']) ).
cnf('3839',plain,
~ node146(c_s,s8),
inference(resolution,[],['3838','405']) ).
cnf('3840',plain,
( ~ node35(c_s,s7,X)
| ~ m_state_v_a2ext(c_s,X,c_ob) ),
inference(resolution,[],['3740','305']) ).
cnf('3841',plain,
~ m_state_v_a2ext(c_s,s8,c_ob),
inference(resolution,[],['3840','3837']) ).
cnf('3842',plain,
~ node147(c_s,s8),
inference(resolution,[],['3841','403']) ).
cnf('3843',plain,
node149(c_s,s8,s9),
inference(resolution,[],['400','1110']) ).
cnf('3844',plain,
( node148(c_s,s8,s9)
| node146(c_s,s8)
| node147(c_s,s8) ),
inference(resolution,[],['3843','402']) ).
cnf('3845',plain,
( node148(c_s,s8,s9)
| node146(c_s,s8) ),
inference(resolution,[],['3842','3844']) ).
cnf('3846',plain,
node148(c_s,s8,s9),
inference(resolution,[],['3839','3845']) ).
cnf('3847',plain,
m_state_v_A2Mag(c_s,s9,c_off),
inference(resolution,[],['3828','3846']) ).
cnf('3848',plain,
~ m_state_v_A1M(c_s,s7,c_extend),
inference(resolution,[],['1626','565']) ).
cnf('3849',plain,
~ node30(c_s,s7),
inference(resolution,[],['3848','624']) ).
cnf('3850',plain,
node32(c_s,s7,s8),
inference(resolution,[],['195','1099']) ).
cnf('3851',plain,
( ~ m_state_v_A1M(c_s,s7,c_retract)
| m_state_v_a1ext(c_s,s8,c_retracted)
| node29(c_s,s7)
| node30(c_s,s7) ),
inference(resolution,[],['3850','1118']) ).
cnf('3852',plain,
~ node29(c_s,s7),
inference(resolution,[],['3848','200']) ).
cnf('3853',plain,
m_state_v_a1ext(c_s,s8,c_retracted),
inference(resolution,[then_simplify],['3849','3851','1178','3852']) ).
cnf('3854',plain,
~ m_state_v_a1ext(c_s,s8,c_ot),
inference(resolution,[],['3853','212']) ).
cnf('3855',plain,
~ node142(c_s,s8),
inference(resolution,[],['3854','216']) ).
cnf('3856',plain,
node145(c_s,s8,s9),
inference(resolution,[],['105','1110']) ).
cnf('3857',plain,
( node144(c_s,s8,s9)
| node142(c_s,s8)
| node143(c_s,s8) ),
inference(resolution,[],['3856','107']) ).
cnf('3858',plain,
~ m_state_v_a1ext(c_s,s8,c_a1ip),
inference(resolution,[],['3853','205']) ).
cnf('3859',plain,
~ node143(c_s,s8),
inference(resolution,[],['3858','210']) ).
cnf('3860',plain,
node144(c_s,s8,s9),
inference(resolution,[then_simplify],['3855','3857','3859']) ).
cnf('3861',plain,
( ~ m_state_v_A1Mag(c_s,s8,X)
| m_state_v_A1Mag(c_s,s9,X) ),
inference(resolution,[],['3860','219']) ).
cnf('3862',plain,
m_state_v_A1Mag(c_s,s9,c_on),
inference(resolution,[],['3861','3707']) ).
cnf('3863',plain,
( ~ node35(c_s,s8,X)
| ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
inference(resolution,[],['3838','305']) ).
cnf('3864',plain,
( ~ node140(c_s,s7,X)
| ~ m_state_v_A2M(c_s,X,c_extend) ),
inference(resolution,[],['3831','347']) ).
cnf('3865',plain,
~ m_state_v_A2M(c_s,s8,c_extend),
inference(resolution,[],['3864','3786']) ).
cnf('3866',plain,
~ node34(c_s,s8),
inference(resolution,[],['3865','647']) ).
cnf('3867',plain,
node36(c_s,s8,s9),
inference(resolution,[],['294','1110']) ).
cnf('3868',plain,
( m_state_v_A2M(c_s,s8,c_retract)
| node35(c_s,s8,s9)
| node33(c_s,s8)
| node34(c_s,s8) ),
inference(resolution,[],['3867','296']) ).
cnf('3869',plain,
~ m_state_v_A2M(c_s,s8,c_retract),
inference(resolution,[],['3773','3786']) ).
cnf('3870',plain,
~ node33(c_s,s8),
inference(resolution,[],['3865','301']) ).
cnf('3871',plain,
node35(c_s,s8,s9),
inference(resolution,[then_simplify],['3866','3868','3869','3870']) ).
cnf('3872',plain,
~ m_state_v_a2ext(c_s,s9,c_a2ip),
inference(resolution,[],['3863','3871']) ).
cnf('3873',plain,
( ~ node35(c_s,s8,X)
| ~ m_state_v_a2ext(c_s,X,c_ob) ),
inference(resolution,[],['3841','305']) ).
cnf('3874',plain,
~ m_state_v_a2ext(c_s,s9,c_ob),
inference(resolution,[],['3873','3871']) ).
cnf('3875',plain,
m_state_v_a2ext(c_s,s9,c_retracted),
inference(resolution,[then_simplify],['3872','3719','3874']) ).
cnf('3876',plain,
( m_state_v_RRM(X,Y,c_idle)
| ~ node132(X,Y) ),
inference(cnf_transformation,[],[m_Robot_58]) ).
cnf('3877',plain,
~ node132(c_s,s8),
inference(resolution,[],['1194','3876']) ).
cnf('3878',plain,
~ node138(c_s,s8),
inference(resolution,[],['3787','351']) ).
cnf('3879',plain,
node141(c_s,s8,s9),
inference(resolution,[],['286','1110']) ).
cnf('3880',plain,
( node140(c_s,s8,s9)
| node132(c_s,s8)
| node133(c_s,s8)
| node134(c_s,s8)
| node135(c_s,s8)
| node136(c_s,s8)
| node137(c_s,s8)
| node138(c_s,s8)
| node139(c_s,s8) ),
inference(resolution,[],['3879','288']) ).
cnf('3881',plain,
~ node133(c_s,s8),
inference(resolution,[],['3751','675']) ).
cnf('3882',plain,
~ node134(c_s,s8),
inference(resolution,[],['3838','321']) ).
cnf('3883',plain,
~ node135(c_s,s8),
inference(resolution,[],['3841','319']) ).
cnf('3884',plain,
~ node136(c_s,s8),
inference(resolution,[],['3751','355']) ).
cnf('3885',plain,
~ node137(c_s,s8),
inference(resolution,[],['3841','311']) ).
cnf('3886',plain,
~ node139(c_s,s8),
inference(resolution,[],['3787','569']) ).
cnf('3887',plain,
( node140(c_s,s8,s9)
| node132(c_s,s8) ),
inference(resolution,[then_simplify],['3878','3880','3881','3882','3883','3884','3885','3886']) ).
cnf('3888',plain,
node140(c_s,s8,s9),
inference(resolution,[],['3877','3887']) ).
cnf('3889',plain,
m_state_v_A2M(c_s,s8,c_idle),
inference(resolution,[then_simplify],['3865','438','3869']) ).
cnf('3890',plain,
( ~ node140(c_s,s8,X)
| m_state_v_A2M(c_s,X,c_idle) ),
inference(resolution,[],['3889','911']) ).
cnf('3891',plain,
m_state_v_A2M(c_s,s9,c_idle),
inference(resolution,[],['3888','3890']) ).
cnf('3892',plain,
( ~ node31(c_s,s8,X)
| m_state_v_a1ext(c_s,X,c_retracted) ),
inference(resolution,[],['3853','450']) ).
cnf('3893',plain,
~ m_state_v_A1M(c_s,s8,c_extend),
inference(resolution,[],['1678','110']) ).
cnf('3894',plain,
~ node30(c_s,s8),
inference(resolution,[],['3893','624']) ).
cnf('3895',plain,
node32(c_s,s8,s9),
inference(resolution,[],['195','1110']) ).
cnf('3896',plain,
( node31(c_s,s8,s9)
| m_state_v_A1M(c_s,s8,c_retract)
| node29(c_s,s8)
| node30(c_s,s8) ),
inference(resolution,[],['3895','197']) ).
cnf('3897',plain,
~ m_state_v_A1M(c_s,s8,c_retract),
inference(resolution,[],['1678','41']) ).
cnf('3898',plain,
~ node29(c_s,s8),
inference(resolution,[],['3893','200']) ).
cnf('3899',plain,
node31(c_s,s8,s9),
inference(resolution,[then_simplify],['3894','3896','3897','3898']) ).
cnf('3900',plain,
m_state_v_a1ext(c_s,s9,c_retracted),
inference(resolution,[],['3892','3899']) ).
cnf('3901',plain,
( ~ node130(c_s,s8,X)
| m_state_v_A1M(c_s,X,c_idle) ),
inference(resolution,[],['1678','230']) ).
cnf('3902',plain,
~ node129(c_s,s8),
inference(resolution,[],['1679','824']) ).
cnf('3903',plain,
node131(c_s,s8,s9),
inference(resolution,[],['137','1110']) ).
cnf('3904',plain,
( node130(c_s,s8,s9)
| node122(c_s,s8)
| node123(c_s,s8)
| node124(c_s,s8)
| node125(c_s,s8)
| node126(c_s,s8)
| node127(c_s,s8)
| node128(c_s,s8)
| node129(c_s,s8) ),
inference(resolution,[],['3903','139']) ).
cnf('3905',plain,
~ node122(c_s,s8),
inference(resolution,[],['3708','1031']) ).
cnf('3906',plain,
( ~ node120(c_s,s6,X)
| ~ m_state_v_PM(c_s,X,c_up) ),
inference(resolution,[],['1661','747']) ).
cnf('3907',plain,
~ node161(c_s,s5),
inference(resolution,[],['907','974']) ).
cnf('3908',plain,
~ node160(c_s,s5),
inference(resolution,[],['929','789']) ).
cnf('3909',plain,
node163(c_s,s5,s6),
inference(resolution,[],['784','704']) ).
cnf('3910',plain,
( node162(c_s,s5,s6)
| node160(c_s,s5)
| node161(c_s,s5) ),
inference(resolution,[],['3909','786']) ).
cnf('3911',plain,
( node162(c_s,s5,s6)
| node161(c_s,s5) ),
inference(resolution,[],['3908','3910']) ).
cnf('3912',plain,
node162(c_s,s5,s6),
inference(resolution,[],['3907','3911']) ).
cnf('3913',plain,
m_state_v_pl(c_s,s5),
inference(resolution,[then_simplify],['1636','793','1637']) ).
cnf('3914',plain,
m_state_v_pl(c_s,s6),
inference(resolution,[then_simplify],['3912','793','3913']) ).
cnf('3915',plain,
~ node114(c_s,s6),
inference(resolution,[],['3914','743']) ).
cnf('3916',plain,
( ~ node120(c_s,s5,X)
| ~ m_state_v_PM(c_s,X,c_down) ),
inference(resolution,[],['1641','747']) ).
cnf('3917',plain,
~ m_state_v_PM(c_s,s6,c_down),
inference(resolution,[],['3916','1660']) ).
cnf('3918',plain,
~ node119(c_s,s6),
inference(resolution,[],['3917','732']) ).
cnf('3919',plain,
~ node50(c_s,s5),
inference(resolution,[],['1025','770']) ).
cnf('3920',plain,
~ node49(c_s,s5),
inference(resolution,[],['1651','772']) ).
cnf('3921',plain,
node52(c_s,s5,s6),
inference(resolution,[],['767','704']) ).
cnf('3922',plain,
( node51(c_s,s5,s6)
| node49(c_s,s5)
| node50(c_s,s5) ),
inference(resolution,[],['3921','769']) ).
cnf('3923',plain,
( node51(c_s,s5,s6)
| node50(c_s,s5) ),
inference(resolution,[],['3920','3922']) ).
cnf('3924',plain,
node51(c_s,s5,s6),
inference(resolution,[],['3919','3923']) ).
cnf('3925',plain,
~ m_state_v_topPosP(c_s,s5),
inference(resolution,[then_simplify],['1649','776','1650']) ).
cnf('3926',plain,
~ m_state_v_topPosP(c_s,s6),
inference(resolution,[then_simplify],['3924','776','3925']) ).
cnf('3927',plain,
~ node118(c_s,s6),
inference(resolution,[],['3926','734']) ).
cnf('3928',plain,
node121(c_s,s6,s7),
inference(resolution,[],['727','949']) ).
cnf('3929',plain,
( node120(c_s,s6,s7)
| node114(c_s,s6)
| node115(c_s,s6)
| node116(c_s,s6)
| node117(c_s,s6)
| node118(c_s,s6)
| node119(c_s,s6) ),
inference(resolution,[],['3928','729']) ).
cnf('3930',plain,
~ node117(c_s,s6),
inference(resolution,[],['3926','737']) ).
cnf('3931',plain,
( node120(c_s,s6,s7)
| node114(c_s,s6)
| node115(c_s,s6)
| node116(c_s,s6)
| node119(c_s,s6) ),
inference(resolution,[then_simplify],['3927','3929','3930']) ).
cnf('3932',plain,
~ node115(c_s,s6),
inference(resolution,[],['1167','781']) ).
cnf('3933',plain,
~ node116(c_s,s6),
inference(resolution,[],['1167','739']) ).
cnf('3934',plain,
( node120(c_s,s6,s7)
| node114(c_s,s6) ),
inference(resolution,[then_simplify],['3918','3931','3932','3933']) ).
cnf('3935',plain,
node120(c_s,s6,s7),
inference(resolution,[],['3915','3934']) ).
cnf('3936',plain,
~ m_state_v_PM(c_s,s7,c_up),
inference(resolution,[],['3906','3935']) ).
cnf('3937',plain,
~ node53(c_s,s7),
inference(resolution,[],['3936','254']) ).
cnf('3938',plain,
~ node54(c_s,s7),
inference(resolution,[],['1669','248']) ).
cnf('3939',plain,
node56(c_s,s7,s8),
inference(resolution,[],['245','1099']) ).
cnf('3940',plain,
( node55(c_s,s7,s8)
| node53(c_s,s7)
| node54(c_s,s7) ),
inference(resolution,[],['3939','247']) ).
cnf('3941',plain,
( node55(c_s,s7,s8)
| node53(c_s,s7) ),
inference(resolution,[],['3938','3940']) ).
cnf('3942',plain,
node55(c_s,s7,s8),
inference(resolution,[],['3937','3941']) ).
cnf('3943',plain,
~ m_state_v_midPosP(c_s,s7),
inference(resolution,[then_simplify],['1667','258','1668']) ).
cnf('3944',plain,
~ m_state_v_midPosP(c_s,s8),
inference(resolution,[then_simplify],['3942','258','3943']) ).
cnf('3945',plain,
~ node123(c_s,s8),
inference(resolution,[],['3944','261']) ).
cnf('3946',plain,
~ node124(c_s,s8),
inference(resolution,[],['3854','242']) ).
cnf('3947',plain,
~ node125(c_s,s8),
inference(resolution,[],['3858','240']) ).
cnf('3948',plain,
~ node126(c_s,s8),
inference(resolution,[],['3854','238']) ).
cnf('3949',plain,
~ node127(c_s,s8),
inference(resolution,[],['3858','236']) ).
cnf('3950',plain,
~ node128(c_s,s8),
inference(resolution,[],['1679','142']) ).
cnf('3951',plain,
node130(c_s,s8,s9),
inference(resolution,[then_simplify],['3902','3904','3905','3945','3946','3947','3948','3949','3950']) ).
cnf('3952',plain,
m_state_v_A1M(c_s,s9,c_idle),
inference(resolution,[],['3901','3951']) ).
cnf('3953',plain,
m_state_v_angle(c_s,s9,c_arm2topress),
inference(resolution,[then_simplify],['1108','1113','1181','1187']) ).
cnf('3954',plain,
~ node153(c_s,s9),
inference(resolution,[],['1211','30']) ).
cnf('3955',plain,
( ~ node140(c_s,s8,X)
| ~ m_state_v_A2M(c_s,X,c_retract) ),
inference(resolution,[],['3787','347']) ).
cnf('3956',plain,
~ m_state_v_A2M(c_s,s9,c_retract),
inference(resolution,[],['3888','3955']) ).
cnf('3957',plain,
~ node152(c_s,s9),
inference(resolution,[],['3956','368']) ).
cnf('3958',plain,
~ node151(c_s,s9),
inference(resolution,[],['3956','39']) ).
cnf('3959',plain,
( m_state_v_angle(X,Y,c_arm1totable)
| ~ node150(X,Y) ),
inference(cnf_transformation,[],[m_Robot_131]) ).
cnf('3960',plain,
~ node150(c_s,s9),
inference(resolution,[],['1217','3959']) ).
cnf('3961',plain,
( ~ node159(c_s,s9,X)
| m_state_v_RRM(c_s,X,c_idle) ),
inference(resolution,[then_simplify],['3823','3824','3847','3862','3875','3891','3900','3952','3953','3954','3957','3958','3960']) ).
cnf('3962',plain,
node159(c_s,s9,s10),
inference(resolution,[],['4','1214']) ).
cnf('3963',plain,
m_state_v_RRM(c_s,s10,c_idle),
inference(resolution,[],['3961','3962']) ).
cnf('3964',plain,
~ m_state_v_RRM(c_s,s10,c_counterclock),
inference(resolution,[],['3963','49']) ).
cnf('3965',plain,
( m_state_v_RRM(X,Y,c_counterclock)
| ~ node154(X,Y) ),
inference(cnf_transformation,[],[m_Robot_147]) ).
cnf('3966',plain,
~ node154(c_s,s10),
inference(resolution,[],['3964','3965']) ).
cnf('3967',plain,
m_state_v_a1ext(c_s,s9,c_retracted),
inference(resolution,[],['3892','3899']) ).
cnf('3968',plain,
~ m_state_v_a1ext(c_s,s9,c_ot),
inference(resolution,[],['3967','212']) ).
cnf('3969',plain,
~ node142(c_s,s9),
inference(resolution,[],['3968','216']) ).
cnf('3970',plain,
node145(c_s,s9,s10),
inference(resolution,[],['105','1214']) ).
cnf('3971',plain,
( node144(c_s,s9,s10)
| node142(c_s,s9)
| node143(c_s,s9) ),
inference(resolution,[],['3970','107']) ).
cnf('3972',plain,
~ m_state_v_a1ext(c_s,s9,c_a1ip),
inference(resolution,[],['3967','205']) ).
cnf('3973',plain,
~ node143(c_s,s9),
inference(resolution,[],['3972','210']) ).
cnf('3974',plain,
node144(c_s,s9,s10),
inference(resolution,[then_simplify],['3969','3971','3973']) ).
cnf('3975',plain,
( ~ m_state_v_A1Mag(c_s,s9,X)
| m_state_v_A1Mag(c_s,s10,X) ),
inference(resolution,[],['3974','219']) ).
cnf('3976',plain,
m_state_v_A1Mag(c_s,s9,c_on),
inference(resolution,[],['3861','3707']) ).
cnf('3977',plain,
m_state_v_A1Mag(c_s,s10,c_on),
inference(resolution,[],['3975','3976']) ).
cnf('3978',plain,
~ m_state_v_A1Mag(c_s,s10,c_off),
inference(resolution,[],['3977','15']) ).
cnf('3979',plain,
~ node157(c_s,s10),
inference(resolution,[],['3978','838']) ).
cnf('3980',plain,
~ node156(c_s,s10),
inference(resolution,[],['3810','3684']) ).
cnf('3981',plain,
m_state_v_A2Mag(c_s,s9,c_off),
inference(resolution,[],['3828','3846']) ).
cnf('3982',plain,
( ~ node148(c_s,s9,X)
| m_state_v_A2Mag(c_s,X,c_off) ),
inference(resolution,[],['3981','642']) ).
cnf('3983',plain,
~ node146(c_s,s9),
inference(resolution,[],['3872','405']) ).
cnf('3984',plain,
~ m_state_v_a2ext(c_s,s9,c_ob),
inference(resolution,[],['3873','3871']) ).
cnf('3985',plain,
~ node147(c_s,s9),
inference(resolution,[],['3984','403']) ).
cnf('3986',plain,
node149(c_s,s9,s10),
inference(resolution,[],['400','1214']) ).
cnf('3987',plain,
( node148(c_s,s9,s10)
| node146(c_s,s9)
| node147(c_s,s9) ),
inference(resolution,[],['3986','402']) ).
cnf('3988',plain,
( node148(c_s,s9,s10)
| node146(c_s,s9) ),
inference(resolution,[],['3985','3987']) ).
cnf('3989',plain,
node148(c_s,s9,s10),
inference(resolution,[],['3983','3988']) ).
cnf('3990',plain,
m_state_v_A2Mag(c_s,s10,c_off),
inference(resolution,[],['3982','3989']) ).
cnf('3991',plain,
~ m_state_v_A2Mag(c_s,s10,c_on),
inference(resolution,[],['3990','20']) ).
cnf('3992',plain,
~ node155(c_s,s10),
inference(resolution,[],['3991','23']) ).
cnf('3993',plain,
~ node153(c_s,s10),
inference(resolution,[],['3810','30']) ).
cnf('3994',plain,
~ node132(c_s,s9),
inference(resolution,[],['3795','3876']) ).
cnf('3995',plain,
~ node138(c_s,s9),
inference(resolution,[],['3956','351']) ).
cnf('3996',plain,
node141(c_s,s9,s10),
inference(resolution,[],['286','1214']) ).
cnf('3997',plain,
( node140(c_s,s9,s10)
| node132(c_s,s9)
| node133(c_s,s9)
| node134(c_s,s9)
| node135(c_s,s9)
| node136(c_s,s9)
| node137(c_s,s9)
| node138(c_s,s9)
| node139(c_s,s9) ),
inference(resolution,[],['3996','288']) ).
cnf('3998',plain,
~ m_state_v_A2Mag(c_s,s9,c_on),
inference(resolution,[],['3981','20']) ).
cnf('3999',plain,
~ node133(c_s,s9),
inference(resolution,[],['3998','675']) ).
cnf('4000',plain,
~ node134(c_s,s9),
inference(resolution,[],['3872','321']) ).
cnf('4001',plain,
~ node135(c_s,s9),
inference(resolution,[],['3984','319']) ).
cnf('4002',plain,
~ node136(c_s,s9),
inference(resolution,[],['3998','355']) ).
cnf('4003',plain,
~ node137(c_s,s9),
inference(resolution,[],['3984','311']) ).
cnf('4004',plain,
~ node139(c_s,s9),
inference(resolution,[],['3956','569']) ).
cnf('4005',plain,
( node140(c_s,s9,s10)
| node132(c_s,s9) ),
inference(resolution,[then_simplify],['3995','3997','3999','4000','4001','4002','4003','4004']) ).
cnf('4006',plain,
node140(c_s,s9,s10),
inference(resolution,[],['3994','4005']) ).
cnf('4007',plain,
( ~ node140(c_s,s9,X)
| ~ m_state_v_A2M(c_s,X,c_retract) ),
inference(resolution,[],['3956','347']) ).
cnf('4008',plain,
~ m_state_v_A2M(c_s,s10,c_retract),
inference(resolution,[],['4006','4007']) ).
cnf('4009',plain,
~ node152(c_s,s10),
inference(resolution,[],['4008','368']) ).
cnf('4010',plain,
~ node151(c_s,s10),
inference(resolution,[],['4008','39']) ).
cnf('4011',plain,
~ node150(c_s,s10),
inference(resolution,[],['1226','3959']) ).
cnf('4012',plain,
( ~ node159(c_s,s10,X)
| node158(c_s,s10,X) ),
inference(resolution,[then_simplify],['3966','9','3979','3980','3992','3993','4009','4010','4011']) ).
cnf('4013',plain,
node159(c_s,s10,s11),
inference(resolution,[],['4','1610']) ).
cnf('4014',plain,
node158(c_s,s10,s11),
inference(resolution,[],['4012','4013']) ).
cnf('4015',plain,
( ~ node158(c_s,s10,X)
| ~ m_state_v_RRM(c_s,X,c_counterclock) ),
inference(resolution,[],['3964','48']) ).
cnf('4016',plain,
~ m_state_v_RRM(c_s,s11,c_counterclock),
inference(resolution,[],['4014','4015']) ).
cnf('4017',plain,
~ node38(c_s,s11),
inference(resolution,[],['4016','91']) ).
cnf('4018',plain,
node48(c_s,s10,s11),
inference(resolution,[],['64','1610']) ).
cnf('4019',plain,
( ~ node48(X,Y,Z)
| ~ m_state_v_RRM(X,Y,c_idle)
| ~ m_state_v_angle(X,Y,c_arm2topress)
| m_state_v_angle_status(X,Z,c_arm2stoppedatpress)
| node43(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_89]) ).
cnf('4020',plain,
( ~ m_state_v_angle(c_s,s10,c_arm2topress)
| ~ m_state_v_RRM(c_s,s10,c_idle)
| m_state_v_angle_status(c_s,s11,c_arm2stoppedatpress)
| node43(c_s,s10) ),
inference(resolution,[],['4018','4019']) ).
cnf('4021',plain,
m_state_v_angle(c_s,s10,c_arm2topress),
inference(resolution,[],['1189','1224']) ).
cnf('4022',plain,
~ node43(c_s,s10),
inference(resolution,[],['1226','3801']) ).
cnf('4023',plain,
m_state_v_angle_status(c_s,s11,c_arm2stoppedatpress),
inference(resolution,[then_simplify],['3963','4020','4021','4022']) ).
cnf('4024',plain,
( ~ m_state_v_angle_status(X,Y,c_arm2stoppedatbelt)
| ~ m_state_v_angle_status(X,Y,c_arm2stoppedatpress) ),
inference(cnf_transformation,[],[m_state_59]) ).
cnf('4025',plain,
~ m_state_v_angle_status(c_s,s11,c_arm2stoppedatbelt),
inference(resolution,[],['4023','4024']) ).
cnf('4026',plain,
~ node39(c_s,s11),
inference(resolution,[],['4025','78']) ).
cnf('4027',plain,
node42(c_s,s11,s12),
inference(resolution,[],['58','1940']) ).
cnf('4028',plain,
( node41(c_s,s11,s12)
| node37(c_s,s11)
| node38(c_s,s11)
| node39(c_s,s11)
| node40(c_s,s11) ),
inference(resolution,[],['4027','62']) ).
cnf('4029',plain,
~ m_state_v_angle_status(c_s,s11,c_arm1stoppedattable),
inference(resolution,[],['4023','80']) ).
cnf('4030',plain,
( m_state_v_angle_status(X,Y,c_arm1stoppedattable)
| ~ node37(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_60]) ).
cnf('4031',plain,
~ node37(c_s,s11),
inference(resolution,[],['4029','4030']) ).
cnf('4032',plain,
( ~ m_state_v_angle_status(X,Y,c_arm1stoppedatpress)
| ~ m_state_v_angle_status(X,Y,c_arm2stoppedatpress) ),
inference(cnf_transformation,[],[m_state_60]) ).
cnf('4033',plain,
~ m_state_v_angle_status(c_s,s11,c_arm1stoppedatpress),
inference(resolution,[],['4023','4032']) ).
cnf('4034',plain,
~ node40(c_s,s11),
inference(resolution,[],['4033','74']) ).
cnf('4035',plain,
( node41(c_s,s11,s12)
| node38(c_s,s11) ),
inference(resolution,[then_simplify],['4026','4028','4031','4034']) ).
cnf('4036',plain,
node41(c_s,s11,s12),
inference(resolution,[],['4017','4035']) ).
cnf('4037',plain,
m_state_v_angle(c_s,s12,c_arm2topress),
inference(resolution,[],['3820','4036']) ).
cnf('4038',plain,
( ~ node41(c_s,s12,X)
| m_state_v_angle(c_s,X,c_arm2topress) ),
inference(resolution,[],['4037','96']) ).
cnf('4039',plain,
( ~ node158(c_s,s11,X)
| ~ m_state_v_RRM(c_s,X,c_counterclock) ),
inference(resolution,[],['4016','48']) ).
cnf('4040',plain,
~ m_state_v_angle(c_s,s11,c_arm1topress),
inference(resolution,[],['3819','1210']) ).
cnf('4041',plain,
~ node153(c_s,s11),
inference(resolution,[],['4040','30']) ).
cnf('4042',plain,
( ~ node31(c_s,s9,X)
| m_state_v_a1ext(c_s,X,c_retracted) ),
inference(resolution,[],['3967','450']) ).
cnf('4043',plain,
m_state_v_A1M(c_s,s9,c_idle),
inference(resolution,[],['3901','3951']) ).
cnf('4044',plain,
~ m_state_v_A1M(c_s,s9,c_retract),
inference(resolution,[],['4043','41']) ).
cnf('4045',plain,
node32(c_s,s9,s10),
inference(resolution,[],['195','1214']) ).
cnf('4046',plain,
( node31(c_s,s9,s10)
| m_state_v_A1M(c_s,s9,c_retract)
| node29(c_s,s9)
| node30(c_s,s9) ),
inference(resolution,[],['4045','197']) ).
cnf('4047',plain,
( m_state_v_angle(X,Y,c_arm1totable)
| ~ node29(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_37]) ).
cnf('4048',plain,
~ node29(c_s,s9),
inference(resolution,[],['1217','4047']) ).
cnf('4049',plain,
~ node30(c_s,s9),
inference(resolution,[],['1211','198']) ).
cnf('4050',plain,
node31(c_s,s9,s10),
inference(resolution,[then_simplify],['4044','4046','4048','4049']) ).
cnf('4051',plain,
m_state_v_a1ext(c_s,s10,c_retracted),
inference(resolution,[],['4042','4050']) ).
cnf('4052',plain,
~ m_state_v_a1ext(c_s,s10,c_ot),
inference(resolution,[],['4051','212']) ).
cnf('4053',plain,
~ node142(c_s,s10),
inference(resolution,[],['4052','216']) ).
cnf('4054',plain,
node145(c_s,s10,s11),
inference(resolution,[],['105','1610']) ).
cnf('4055',plain,
( node144(c_s,s10,s11)
| node142(c_s,s10)
| node143(c_s,s10) ),
inference(resolution,[],['4054','107']) ).
cnf('4056',plain,
~ m_state_v_a1ext(c_s,s10,c_a1ip),
inference(resolution,[],['4051','205']) ).
cnf('4057',plain,
~ node143(c_s,s10),
inference(resolution,[],['4056','210']) ).
cnf('4058',plain,
node144(c_s,s10,s11),
inference(resolution,[then_simplify],['4053','4055','4057']) ).
cnf('4059',plain,
( ~ m_state_v_A1Mag(c_s,s10,X)
| m_state_v_A1Mag(c_s,s11,X) ),
inference(resolution,[],['4058','219']) ).
cnf('4060',plain,
m_state_v_A1Mag(c_s,s11,c_on),
inference(resolution,[],['4059','3977']) ).
cnf('4061',plain,
~ m_state_v_A1Mag(c_s,s11,c_off),
inference(resolution,[],['4060','15']) ).
cnf('4062',plain,
~ node157(c_s,s11),
inference(resolution,[],['4061','838']) ).
cnf('4063',plain,
node141(c_s,s10,s11),
inference(resolution,[],['286','1610']) ).
cnf('4064',plain,
( ~ node141(X,Y,Z)
| ~ m_state_v_A2Mag(X,Y,c_off)
| ~ m_state_v_A1Mag(X,Y,c_on)
| ~ m_state_v_PM(X,Y,c_idle)
| ~ m_state_v_RRM(X,Y,c_idle)
| ~ m_state_v_a2ext(X,Y,c_retracted)
| ~ m_state_v_A2M(X,Y,c_idle)
| ~ m_state_v_a1ext(X,Y,c_retracted)
| ~ m_state_v_A1M(X,Y,c_idle)
| ~ m_state_v_angle(X,Y,c_arm2topress)
| m_state_v_A2M(X,Z,c_extend)
| ~ m_state_v_pl(X,Y)
| ~ m_state_v_botPosP(X,Y) ),
inference(cnf_transformation,[],[m_Robot_97]) ).
cnf('4065',plain,
( ~ m_state_v_angle(c_s,s10,c_arm2topress)
| ~ m_state_v_PM(c_s,s10,c_idle)
| ~ m_state_v_A1M(c_s,s10,c_idle)
| ~ m_state_v_a2ext(c_s,s10,c_retracted)
| ~ m_state_v_A2Mag(c_s,s10,c_off)
| ~ m_state_v_A2M(c_s,s10,c_idle)
| ~ m_state_v_a1ext(c_s,s10,c_retracted)
| ~ m_state_v_A1Mag(c_s,s10,c_on)
| ~ m_state_v_RRM(c_s,s10,c_idle)
| ~ m_state_v_pl(c_s,s10)
| ~ m_state_v_botPosP(c_s,s10)
| m_state_v_A2M(c_s,s11,c_extend) ),
inference(resolution,[],['4063','4064']) ).
cnf('4066',plain,
~ m_state_v_angle(c_s,s7,c_arm1topress),
inference(resolution,[],['958','27']) ).
cnf('4067',plain,
~ node161(c_s,s7),
inference(resolution,[],['4066','787']) ).
cnf('4068',plain,
~ node160(c_s,s7),
inference(resolution,[],['3772','789']) ).
cnf('4069',plain,
node163(c_s,s7,s8),
inference(resolution,[],['784','1099']) ).
cnf('4070',plain,
( node162(c_s,s7,s8)
| node160(c_s,s7)
| node161(c_s,s7) ),
inference(resolution,[],['4069','786']) ).
cnf('4071',plain,
( node162(c_s,s7,s8)
| node161(c_s,s7) ),
inference(resolution,[],['4068','4070']) ).
cnf('4072',plain,
node162(c_s,s7,s8),
inference(resolution,[],['4067','4071']) ).
cnf('4073',plain,
~ node161(c_s,s6),
inference(resolution,[],['969','1630']) ).
cnf('4074',plain,
~ node160(c_s,s6),
inference(resolution,[],['1078','789']) ).
cnf('4075',plain,
node163(c_s,s6,s7),
inference(resolution,[],['784','949']) ).
cnf('4076',plain,
( node162(c_s,s6,s7)
| node160(c_s,s6)
| node161(c_s,s6) ),
inference(resolution,[],['4075','786']) ).
cnf('4077',plain,
( node162(c_s,s6,s7)
| node161(c_s,s6) ),
inference(resolution,[],['4074','4076']) ).
cnf('4078',plain,
node162(c_s,s6,s7),
inference(resolution,[],['4073','4077']) ).
cnf('4079',plain,
m_state_v_pl(c_s,s6),
inference(resolution,[then_simplify],['3912','793','3913']) ).
cnf('4080',plain,
m_state_v_pl(c_s,s7),
inference(resolution,[then_simplify],['4078','793','4079']) ).
cnf('4081',plain,
m_state_v_pl(c_s,s8),
inference(resolution,[then_simplify],['4072','793','4080']) ).
cnf('4082',plain,
~ node114(c_s,s8),
inference(resolution,[],['4081','743']) ).
cnf('4083',plain,
( ~ node120(c_s,s6,X)
| ~ m_state_v_PM(c_s,X,c_down) ),
inference(resolution,[],['3917','747']) ).
cnf('4084',plain,
~ m_state_v_PM(c_s,s7,c_down),
inference(resolution,[],['4083','3935']) ).
cnf('4085',plain,
( ~ node120(c_s,s7,X)
| ~ m_state_v_PM(c_s,X,c_down) ),
inference(resolution,[],['4084','747']) ).
cnf('4086',plain,
m_state_v_pl(c_s,s7),
inference(resolution,[then_simplify],['4078','793','4079']) ).
cnf('4087',plain,
~ node114(c_s,s7),
inference(resolution,[],['4086','743']) ).
cnf('4088',plain,
~ node119(c_s,s7),
inference(resolution,[],['4084','732']) ).
cnf('4089',plain,
node121(c_s,s7,s8),
inference(resolution,[],['727','1099']) ).
cnf('4090',plain,
( node120(c_s,s7,s8)
| node114(c_s,s7)
| node115(c_s,s7)
| node116(c_s,s7)
| node117(c_s,s7)
| node118(c_s,s7)
| node119(c_s,s7) ),
inference(resolution,[],['4089','729']) ).
cnf('4091',plain,
~ node115(c_s,s7),
inference(resolution,[],['1669','781']) ).
cnf('4092',plain,
~ node116(c_s,s7),
inference(resolution,[],['1669','739']) ).
cnf('4093',plain,
~ node50(c_s,s6),
inference(resolution,[],['1167','770']) ).
cnf('4094',plain,
~ node49(c_s,s6),
inference(resolution,[],['3926','772']) ).
cnf('4095',plain,
node52(c_s,s6,s7),
inference(resolution,[],['767','949']) ).
cnf('4096',plain,
( node51(c_s,s6,s7)
| node49(c_s,s6)
| node50(c_s,s6) ),
inference(resolution,[],['4095','769']) ).
cnf('4097',plain,
( node51(c_s,s6,s7)
| node50(c_s,s6) ),
inference(resolution,[],['4094','4096']) ).
cnf('4098',plain,
node51(c_s,s6,s7),
inference(resolution,[],['4093','4097']) ).
cnf('4099',plain,
~ m_state_v_topPosP(c_s,s6),
inference(resolution,[then_simplify],['3924','776','3925']) ).
cnf('4100',plain,
~ m_state_v_topPosP(c_s,s7),
inference(resolution,[then_simplify],['4098','776','4099']) ).
cnf('4101',plain,
~ node117(c_s,s7),
inference(resolution,[],['4100','737']) ).
cnf('4102',plain,
~ node118(c_s,s7),
inference(resolution,[],['4100','734']) ).
cnf('4103',plain,
( node120(c_s,s7,s8)
| node114(c_s,s7) ),
inference(resolution,[then_simplify],['4088','4090','4091','4092','4101','4102']) ).
cnf('4104',plain,
node120(c_s,s7,s8),
inference(resolution,[],['4087','4103']) ).
cnf('4105',plain,
~ m_state_v_PM(c_s,s8,c_down),
inference(resolution,[],['4085','4104']) ).
cnf('4106',plain,
~ node119(c_s,s8),
inference(resolution,[],['4105','732']) ).
cnf('4107',plain,
node121(c_s,s8,s9),
inference(resolution,[],['727','1110']) ).
cnf('4108',plain,
( node120(c_s,s8,s9)
| node114(c_s,s8)
| node115(c_s,s8)
| node116(c_s,s8)
| node117(c_s,s8)
| node118(c_s,s8)
| node119(c_s,s8) ),
inference(resolution,[],['4107','729']) ).
cnf('4109',plain,
~ node115(c_s,s8),
inference(resolution,[],['3944','781']) ).
cnf('4110',plain,
~ node116(c_s,s8),
inference(resolution,[],['3944','739']) ).
cnf('4111',plain,
~ node50(c_s,s7),
inference(resolution,[],['1669','770']) ).
cnf('4112',plain,
~ node49(c_s,s7),
inference(resolution,[],['4100','772']) ).
cnf('4113',plain,
node52(c_s,s7,s8),
inference(resolution,[],['767','1099']) ).
cnf('4114',plain,
( node51(c_s,s7,s8)
| node49(c_s,s7)
| node50(c_s,s7) ),
inference(resolution,[],['4113','769']) ).
cnf('4115',plain,
( node51(c_s,s7,s8)
| node50(c_s,s7) ),
inference(resolution,[],['4112','4114']) ).
cnf('4116',plain,
node51(c_s,s7,s8),
inference(resolution,[],['4111','4115']) ).
cnf('4117',plain,
~ m_state_v_topPosP(c_s,s7),
inference(resolution,[then_simplify],['4098','776','4099']) ).
cnf('4118',plain,
~ m_state_v_topPosP(c_s,s8),
inference(resolution,[then_simplify],['4116','776','4117']) ).
cnf('4119',plain,
~ node117(c_s,s8),
inference(resolution,[],['4118','737']) ).
cnf('4120',plain,
~ node118(c_s,s8),
inference(resolution,[],['4118','734']) ).
cnf('4121',plain,
( node120(c_s,s8,s9)
| node114(c_s,s8) ),
inference(resolution,[then_simplify],['4106','4108','4109','4110','4119','4120']) ).
cnf('4122',plain,
node120(c_s,s8,s9),
inference(resolution,[],['4082','4121']) ).
cnf('4123',plain,
( ~ node120(c_s,s7,X)
| ~ m_state_v_PM(c_s,X,c_up) ),
inference(resolution,[],['3936','747']) ).
cnf('4124',plain,
~ m_state_v_PM(c_s,s8,c_up),
inference(resolution,[],['4123','4104']) ).
cnf('4125',plain,
( m_state_v_PM(X,Y,c_down)
| m_state_v_PM(X,Y,c_idle)
| m_state_v_PM(X,Y,c_up) ),
inference(cnf_transformation,[],[m_state_27]) ).
cnf('4126',plain,
~ m_state_v_PM(c_s,s8,c_down),
inference(resolution,[],['4085','4104']) ).
cnf('4127',plain,
m_state_v_PM(c_s,s8,c_idle),
inference(resolution,[then_simplify],['4124','4125','4126']) ).
cnf('4128',plain,
( ~ node120(X,Y,Z)
| ~ m_state_v_PM(X,Y,U)
| m_state_v_PM(X,Z,U) ),
inference(cnf_transformation,[],[m_Press_18]) ).
cnf('4129',plain,
( ~ node120(c_s,s8,X)
| m_state_v_PM(c_s,X,c_idle) ),
inference(resolution,[],['4127','4128']) ).
cnf('4130',plain,
m_state_v_PM(c_s,s9,c_idle),
inference(resolution,[],['4122','4129']) ).
cnf('4131',plain,
( ~ node120(c_s,s9,X)
| m_state_v_PM(c_s,X,c_idle) ),
inference(resolution,[],['4130','4128']) ).
cnf('4132',plain,
( ~ node120(c_s,s8,X)
| ~ m_state_v_PM(c_s,X,c_down) ),
inference(resolution,[],['4105','747']) ).
cnf('4133',plain,
~ m_state_v_PM(c_s,s9,c_down),
inference(resolution,[],['4122','4132']) ).
cnf('4134',plain,
~ node119(c_s,s9),
inference(resolution,[],['4133','732']) ).
cnf('4135',plain,
node121(c_s,s9,s10),
inference(resolution,[],['727','1214']) ).
cnf('4136',plain,
( node120(c_s,s9,s10)
| node114(c_s,s9)
| node115(c_s,s9)
| node116(c_s,s9)
| node117(c_s,s9)
| node118(c_s,s9)
| node119(c_s,s9) ),
inference(resolution,[],['4135','729']) ).
cnf('4137',plain,
~ node161(c_s,s8),
inference(resolution,[],['1679','974']) ).
cnf('4138',plain,
~ node160(c_s,s8),
inference(resolution,[],['3787','789']) ).
cnf('4139',plain,
node163(c_s,s8,s9),
inference(resolution,[],['784','1110']) ).
cnf('4140',plain,
( node162(c_s,s8,s9)
| node160(c_s,s8)
| node161(c_s,s8) ),
inference(resolution,[],['4139','786']) ).
cnf('4141',plain,
( node162(c_s,s8,s9)
| node161(c_s,s8) ),
inference(resolution,[],['4138','4140']) ).
cnf('4142',plain,
node162(c_s,s8,s9),
inference(resolution,[],['4137','4141']) ).
cnf('4143',plain,
m_state_v_pl(c_s,s8),
inference(resolution,[then_simplify],['4072','793','4080']) ).
cnf('4144',plain,
m_state_v_pl(c_s,s9),
inference(resolution,[then_simplify],['4142','793','4143']) ).
cnf('4145',plain,
~ node114(c_s,s9),
inference(resolution,[],['4144','743']) ).
cnf('4146',plain,
~ node53(c_s,s8),
inference(resolution,[],['4124','254']) ).
cnf('4147',plain,
~ node54(c_s,s8),
inference(resolution,[],['3944','248']) ).
cnf('4148',plain,
node56(c_s,s8,s9),
inference(resolution,[],['245','1110']) ).
cnf('4149',plain,
( node55(c_s,s8,s9)
| node53(c_s,s8)
| node54(c_s,s8) ),
inference(resolution,[],['4148','247']) ).
cnf('4150',plain,
( node55(c_s,s8,s9)
| node53(c_s,s8) ),
inference(resolution,[],['4147','4149']) ).
cnf('4151',plain,
node55(c_s,s8,s9),
inference(resolution,[],['4146','4150']) ).
cnf('4152',plain,
~ m_state_v_midPosP(c_s,s8),
inference(resolution,[then_simplify],['3942','258','3943']) ).
cnf('4153',plain,
~ m_state_v_midPosP(c_s,s9),
inference(resolution,[then_simplify],['4151','258','4152']) ).
cnf('4154',plain,
~ node115(c_s,s9),
inference(resolution,[],['4153','781']) ).
cnf('4155',plain,
~ node116(c_s,s9),
inference(resolution,[],['4153','739']) ).
cnf('4156',plain,
~ node50(c_s,s8),
inference(resolution,[],['3944','770']) ).
cnf('4157',plain,
~ node49(c_s,s8),
inference(resolution,[],['4118','772']) ).
cnf('4158',plain,
node52(c_s,s8,s9),
inference(resolution,[],['767','1110']) ).
cnf('4159',plain,
( node51(c_s,s8,s9)
| node49(c_s,s8)
| node50(c_s,s8) ),
inference(resolution,[],['4158','769']) ).
cnf('4160',plain,
( node51(c_s,s8,s9)
| node50(c_s,s8) ),
inference(resolution,[],['4157','4159']) ).
cnf('4161',plain,
node51(c_s,s8,s9),
inference(resolution,[],['4156','4160']) ).
cnf('4162',plain,
~ m_state_v_topPosP(c_s,s8),
inference(resolution,[then_simplify],['4116','776','4117']) ).
cnf('4163',plain,
~ m_state_v_topPosP(c_s,s9),
inference(resolution,[then_simplify],['4161','776','4162']) ).
cnf('4164',plain,
~ node117(c_s,s9),
inference(resolution,[],['4163','737']) ).
cnf('4165',plain,
~ node118(c_s,s9),
inference(resolution,[],['4163','734']) ).
cnf('4166',plain,
node120(c_s,s9,s10),
inference(resolution,[then_simplify],['4134','4136','4145','4154','4155','4164','4165']) ).
cnf('4167',plain,
m_state_v_PM(c_s,s10,c_idle),
inference(resolution,[],['4131','4166']) ).
cnf('4168',plain,
~ node129(c_s,s9),
inference(resolution,[],['1211','140']) ).
cnf('4169',plain,
node131(c_s,s9,s10),
inference(resolution,[],['137','1214']) ).
cnf('4170',plain,
( node130(c_s,s9,s10)
| node122(c_s,s9)
| node123(c_s,s9)
| node124(c_s,s9)
| node125(c_s,s9)
| node126(c_s,s9)
| node127(c_s,s9)
| node128(c_s,s9)
| node129(c_s,s9) ),
inference(resolution,[],['4169','139']) ).
cnf('4171',plain,
~ m_state_v_tl(c_s,s9),
inference(resolution,[then_simplify],['1685','1615','1690']) ).
cnf('4172',plain,
( ~ node122(X,Y)
| m_state_v_tl(X,Y) ),
inference(cnf_transformation,[],[m_Robot_11]) ).
cnf('4173',plain,
~ node122(c_s,s9),
inference(resolution,[],['4171','4172']) ).
cnf('4174',plain,
~ node123(c_s,s9),
inference(resolution,[],['4153','261']) ).
cnf('4175',plain,
~ node124(c_s,s9),
inference(resolution,[],['3968','242']) ).
cnf('4176',plain,
~ node125(c_s,s9),
inference(resolution,[],['3972','240']) ).
cnf('4177',plain,
~ node126(c_s,s9),
inference(resolution,[],['3968','238']) ).
cnf('4178',plain,
~ node127(c_s,s9),
inference(resolution,[],['3972','236']) ).
cnf('4179',plain,
( m_state_v_angle(X,Y,c_arm1totable)
| ~ node128(X,Y) ),
inference(cnf_transformation,[],[m_Robot_37]) ).
cnf('4180',plain,
~ node128(c_s,s9),
inference(resolution,[],['1217','4179']) ).
cnf('4181',plain,
node130(c_s,s9,s10),
inference(resolution,[then_simplify],['4168','4170','4173','4174','4175','4176','4177','4178','4180']) ).
cnf('4182',plain,
( ~ m_state_v_A1M(c_s,s9,X)
| m_state_v_A1M(c_s,s10,X) ),
inference(resolution,[],['4181','230']) ).
cnf('4183',plain,
m_state_v_A1M(c_s,s10,c_idle),
inference(resolution,[],['4182','4043']) ).
cnf('4184',plain,
( ~ node140(c_s,s8,X)
| ~ m_state_v_A2M(c_s,X,c_extend) ),
inference(resolution,[],['3865','347']) ).
cnf('4185',plain,
~ m_state_v_A2M(c_s,s9,c_extend),
inference(resolution,[],['3888','4184']) ).
cnf('4186',plain,
~ node34(c_s,s9),
inference(resolution,[],['4185','647']) ).
cnf('4187',plain,
node36(c_s,s9,s10),
inference(resolution,[],['294','1214']) ).
cnf('4188',plain,
( m_state_v_A2M(c_s,s9,c_retract)
| node35(c_s,s9,s10)
| node33(c_s,s9)
| node34(c_s,s9) ),
inference(resolution,[],['4187','296']) ).
cnf('4189',plain,
~ m_state_v_A2M(c_s,s9,c_retract),
inference(resolution,[],['3888','3955']) ).
cnf('4190',plain,
~ node33(c_s,s9),
inference(resolution,[],['4185','301']) ).
cnf('4191',plain,
node35(c_s,s9,s10),
inference(resolution,[then_simplify],['4186','4188','4189','4190']) ).
cnf('4192',plain,
m_state_v_a2ext(c_s,s9,c_retracted),
inference(resolution,[then_simplify],['3872','3719','3874']) ).
cnf('4193',plain,
( ~ node35(c_s,s9,X)
| m_state_v_a2ext(c_s,X,c_retracted) ),
inference(resolution,[],['4192','430']) ).
cnf('4194',plain,
m_state_v_a2ext(c_s,s10,c_retracted),
inference(resolution,[],['4191','4193']) ).
cnf('4195',plain,
m_state_v_A2Mag(c_s,s10,c_off),
inference(resolution,[],['3982','3989']) ).
cnf('4196',plain,
m_state_v_A2M(c_s,s9,c_idle),
inference(resolution,[],['3888','3890']) ).
cnf('4197',plain,
( ~ node140(c_s,s9,X)
| m_state_v_A2M(c_s,X,c_idle) ),
inference(resolution,[],['4196','911']) ).
cnf('4198',plain,
m_state_v_A2M(c_s,s10,c_idle),
inference(resolution,[],['4006','4197']) ).
cnf('4199',plain,
m_state_v_a1ext(c_s,s10,c_retracted),
inference(resolution,[],['4042','4050']) ).
cnf('4200',plain,
m_state_v_A1Mag(c_s,s10,c_on),
inference(resolution,[],['3975','3976']) ).
cnf('4201',plain,
~ node161(c_s,s9),
inference(resolution,[],['1211','787']) ).
cnf('4202',plain,
~ node160(c_s,s9),
inference(resolution,[],['3956','789']) ).
cnf('4203',plain,
node163(c_s,s9,s10),
inference(resolution,[],['784','1214']) ).
cnf('4204',plain,
( node162(c_s,s9,s10)
| node160(c_s,s9)
| node161(c_s,s9) ),
inference(resolution,[],['4203','786']) ).
cnf('4205',plain,
( node162(c_s,s9,s10)
| node161(c_s,s9) ),
inference(resolution,[],['4202','4204']) ).
cnf('4206',plain,
node162(c_s,s9,s10),
inference(resolution,[],['4201','4205']) ).
cnf('4207',plain,
m_state_v_pl(c_s,s9),
inference(resolution,[then_simplify],['4142','793','4143']) ).
cnf('4208',plain,
m_state_v_pl(c_s,s10),
inference(resolution,[then_simplify],['4206','793','4207']) ).
cnf('4209',plain,
( ~ node120(c_s,s8,X)
| ~ m_state_v_PM(c_s,X,c_up) ),
inference(resolution,[],['4124','747']) ).
cnf('4210',plain,
~ m_state_v_PM(c_s,s9,c_up),
inference(resolution,[],['4122','4209']) ).
cnf('4211',plain,
( m_state_v_PM(X,Y,c_up)
| ~ node57(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_117]) ).
cnf('4212',plain,
~ node57(c_s,s9),
inference(resolution,[],['4210','4211']) ).
cnf('4213',plain,
( ~ node58(X,Y)
| m_state_v_topPosP(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_118]) ).
cnf('4214',plain,
~ node58(c_s,s9),
inference(resolution,[],['4163','4213']) ).
cnf('4215',plain,
( node60(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_125]) ).
cnf('4216',plain,
( node60(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['4215','56','57']) ).
cnf('4217',plain,
node60(c_s,s9,s10),
inference(resolution,[],['4216','1214']) ).
cnf('4218',plain,
( ~ node60(X,Y,Z)
| node59(X,Y,Z)
| node58(X,Y)
| node57(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_124]) ).
cnf('4219',plain,
( node59(c_s,s9,s10)
| node57(c_s,s9)
| node58(c_s,s9) ),
inference(resolution,[],['4217','4218']) ).
cnf('4220',plain,
( node59(c_s,s9,s10)
| node57(c_s,s9) ),
inference(resolution,[],['4214','4219']) ).
cnf('4221',plain,
node59(c_s,s9,s10),
inference(resolution,[],['4212','4220']) ).
cnf('4222',plain,
( ~ node59(X,Y,Z)
| ~ m_state_v_botPosP(X,Y)
| m_state_v_botPosP(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_120]) ).
cnf('4223',plain,
~ node57(c_s,s8),
inference(resolution,[],['4124','4211']) ).
cnf('4224',plain,
~ node58(c_s,s8),
inference(resolution,[],['4118','4213']) ).
cnf('4225',plain,
node60(c_s,s8,s9),
inference(resolution,[],['4216','1110']) ).
cnf('4226',plain,
( node59(c_s,s8,s9)
| node57(c_s,s8)
| node58(c_s,s8) ),
inference(resolution,[],['4225','4218']) ).
cnf('4227',plain,
( node59(c_s,s8,s9)
| node57(c_s,s8) ),
inference(resolution,[],['4224','4226']) ).
cnf('4228',plain,
node59(c_s,s8,s9),
inference(resolution,[],['4223','4227']) ).
cnf('4229',plain,
~ node57(c_s,s7),
inference(resolution,[],['3936','4211']) ).
cnf('4230',plain,
~ node58(c_s,s7),
inference(resolution,[],['4100','4213']) ).
cnf('4231',plain,
node60(c_s,s7,s8),
inference(resolution,[],['4216','1099']) ).
cnf('4232',plain,
( node59(c_s,s7,s8)
| node57(c_s,s7)
| node58(c_s,s7) ),
inference(resolution,[],['4231','4218']) ).
cnf('4233',plain,
( node59(c_s,s7,s8)
| node57(c_s,s7) ),
inference(resolution,[],['4230','4232']) ).
cnf('4234',plain,
node59(c_s,s7,s8),
inference(resolution,[],['4229','4233']) ).
cnf('4235',plain,
~ node57(c_s,s6),
inference(resolution,[],['1661','4211']) ).
cnf('4236',plain,
~ node58(c_s,s6),
inference(resolution,[],['3926','4213']) ).
cnf('4237',plain,
node60(c_s,s6,s7),
inference(resolution,[],['4216','949']) ).
cnf('4238',plain,
( node59(c_s,s6,s7)
| node57(c_s,s6)
| node58(c_s,s6) ),
inference(resolution,[],['4237','4218']) ).
cnf('4239',plain,
( node59(c_s,s6,s7)
| node57(c_s,s6) ),
inference(resolution,[],['4236','4238']) ).
cnf('4240',plain,
node59(c_s,s6,s7),
inference(resolution,[],['4235','4239']) ).
cnf('4241',plain,
~ node57(c_s,s5),
inference(resolution,[],['1159','4211']) ).
cnf('4242',plain,
~ node58(c_s,s5),
inference(resolution,[],['1651','4213']) ).
cnf('4243',plain,
node60(c_s,s5,s6),
inference(resolution,[],['4216','704']) ).
cnf('4244',plain,
( node59(c_s,s5,s6)
| node57(c_s,s5)
| node58(c_s,s5) ),
inference(resolution,[],['4243','4218']) ).
cnf('4245',plain,
( node59(c_s,s5,s6)
| node57(c_s,s5) ),
inference(resolution,[],['4242','4244']) ).
cnf('4246',plain,
node59(c_s,s5,s6),
inference(resolution,[],['4241','4245']) ).
cnf('4247',plain,
~ node57(c_s,s4),
inference(resolution,[],['1017','4211']) ).
cnf('4248',plain,
~ node58(c_s,s4),
inference(resolution,[],['1149','4213']) ).
cnf('4249',plain,
node60(c_s,s4,s5),
inference(resolution,[],['4216','601']) ).
cnf('4250',plain,
( node59(c_s,s4,s5)
| node57(c_s,s4)
| node58(c_s,s4) ),
inference(resolution,[],['4249','4218']) ).
cnf('4251',plain,
( node59(c_s,s4,s5)
| node57(c_s,s4) ),
inference(resolution,[],['4248','4250']) ).
cnf('4252',plain,
node59(c_s,s4,s5),
inference(resolution,[],['4247','4251']) ).
cnf('4253',plain,
~ node57(c_s,s3),
inference(resolution,[],['893','4211']) ).
cnf('4254',plain,
~ node58(c_s,s3),
inference(resolution,[],['1008','4213']) ).
cnf('4255',plain,
node60(c_s,s3,s4),
inference(resolution,[],['4216','386']) ).
cnf('4256',plain,
( node59(c_s,s3,s4)
| node57(c_s,s3)
| node58(c_s,s3) ),
inference(resolution,[],['4255','4218']) ).
cnf('4257',plain,
( node59(c_s,s3,s4)
| node57(c_s,s3) ),
inference(resolution,[],['4254','4256']) ).
cnf('4258',plain,
node59(c_s,s3,s4),
inference(resolution,[],['4253','4257']) ).
cnf('4259',plain,
~ node57(c_s,s2),
inference(resolution,[],['802','4211']) ).
cnf('4260',plain,
~ node58(c_s,s2),
inference(resolution,[],['876','4213']) ).
cnf('4261',plain,
node60(c_s,s2,s3),
inference(resolution,[],['4216','175']) ).
cnf('4262',plain,
( node59(c_s,s2,s3)
| node57(c_s,s2)
| node58(c_s,s2) ),
inference(resolution,[],['4261','4218']) ).
cnf('4263',plain,
( node59(c_s,s2,s3)
| node57(c_s,s2) ),
inference(resolution,[],['4260','4262']) ).
cnf('4264',plain,
node59(c_s,s2,s3),
inference(resolution,[],['4259','4263']) ).
cnf('4265',plain,
~ node57(c_s,s1),
inference(resolution,[],['749','4211']) ).
cnf('4266',plain,
~ node58(c_s,s1),
inference(resolution,[],['778','4213']) ).
cnf('4267',plain,
node60(c_s,s1,s2),
inference(resolution,[],['4216','60']) ).
cnf('4268',plain,
( node59(c_s,s1,s2)
| node57(c_s,s1)
| node58(c_s,s1) ),
inference(resolution,[],['4267','4218']) ).
cnf('4269',plain,
( node59(c_s,s1,s2)
| node57(c_s,s1) ),
inference(resolution,[],['4266','4268']) ).
cnf('4270',plain,
node59(c_s,s1,s2),
inference(resolution,[],['4265','4269']) ).
cnf('4271',plain,
node60(c_s,s0,s1),
inference(resolution,[],['4216','7']) ).
cnf('4272',plain,
~ node58(X,s0),
inference(resolution,[],['4213','735']) ).
cnf('4273',plain,
~ node57(X3,s0),
inference(resolution,[],['253','4211']) ).
cnf('4274',plain,
( ~ node60(X,s0,Y)
| node59(X,s0,Y) ),
inference(resolution,[then_simplify],['4218','4272','4273']) ).
cnf('4275',plain,
node59(c_s,s0,s1),
inference(resolution,[],['4271','4274']) ).
cnf('4276',plain,
m_state_v_botPosP(X,s0),
inference(cnf_transformation,[],[m_state_101]) ).
cnf('4277',plain,
( ~ node59(X,s0,Y)
| m_state_v_botPosP(X,Y) ),
inference(resolution,[],['4222','4276']) ).
cnf('4278',plain,
m_state_v_botPosP(c_s,s1),
inference(resolution,[],['4275','4277']) ).
cnf('4279',plain,
m_state_v_botPosP(c_s,s2),
inference(resolution,[then_simplify],['4270','4222','4278']) ).
cnf('4280',plain,
m_state_v_botPosP(c_s,s3),
inference(resolution,[then_simplify],['4264','4222','4279']) ).
cnf('4281',plain,
m_state_v_botPosP(c_s,s4),
inference(resolution,[then_simplify],['4258','4222','4280']) ).
cnf('4282',plain,
m_state_v_botPosP(c_s,s5),
inference(resolution,[then_simplify],['4252','4222','4281']) ).
cnf('4283',plain,
m_state_v_botPosP(c_s,s6),
inference(resolution,[then_simplify],['4246','4222','4282']) ).
cnf('4284',plain,
m_state_v_botPosP(c_s,s7),
inference(resolution,[then_simplify],['4240','4222','4283']) ).
cnf('4285',plain,
m_state_v_botPosP(c_s,s8),
inference(resolution,[then_simplify],['4234','4222','4284']) ).
cnf('4286',plain,
m_state_v_botPosP(c_s,s9),
inference(resolution,[then_simplify],['4228','4222','4285']) ).
cnf('4287',plain,
m_state_v_botPosP(c_s,s10),
inference(resolution,[then_simplify],['4221','4222','4286']) ).
cnf('4288',plain,
m_state_v_A2M(c_s,s11,c_extend),
inference(resolution,[then_simplify],['3963','4065','4021','4167','4183','4194','4195','4198','4199','4200','4208','4287']) ).
cnf('4289',plain,
~ m_state_v_A2M(c_s,s11,c_idle),
inference(resolution,[],['4288','299']) ).
cnf('4290',plain,
( m_state_v_A2M(X,Y,c_idle)
| ~ node156(X,Y) ),
inference(cnf_transformation,[],[m_Robot_162]) ).
cnf('4291',plain,
~ node156(c_s,s11),
inference(resolution,[],['4289','4290']) ).
cnf('4292',plain,
( ~ node35(c_s,s9,X)
| ~ m_state_v_a2ext(c_s,X,c_ob) ),
inference(resolution,[],['3984','305']) ).
cnf('4293',plain,
~ m_state_v_a2ext(c_s,s10,c_ob),
inference(resolution,[],['4191','4292']) ).
cnf('4294',plain,
~ node147(c_s,s10),
inference(resolution,[],['4293','403']) ).
cnf('4295',plain,
node149(c_s,s10,s11),
inference(resolution,[],['400','1610']) ).
cnf('4296',plain,
( node148(c_s,s10,s11)
| node146(c_s,s10)
| node147(c_s,s10) ),
inference(resolution,[],['4295','402']) ).
cnf('4297',plain,
( ~ node35(c_s,s9,X)
| ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
inference(resolution,[],['3872','305']) ).
cnf('4298',plain,
~ m_state_v_a2ext(c_s,s10,c_a2ip),
inference(resolution,[],['4191','4297']) ).
cnf('4299',plain,
~ node146(c_s,s10),
inference(resolution,[],['4298','405']) ).
cnf('4300',plain,
node148(c_s,s10,s11),
inference(resolution,[then_simplify],['4294','4296','4299']) ).
cnf('4301',plain,
( ~ node148(c_s,s10,X)
| ~ m_state_v_A2Mag(c_s,X,c_on) ),
inference(resolution,[],['3991','408']) ).
cnf('4302',plain,
~ m_state_v_A2Mag(c_s,s11,c_on),
inference(resolution,[],['4300','4301']) ).
cnf('4303',plain,
~ node155(c_s,s11),
inference(resolution,[],['4302','23']) ).
cnf('4304',plain,
( m_state_v_A2M(X,Y,c_idle)
| ~ node154(X,Y) ),
inference(cnf_transformation,[],[m_Robot_146]) ).
cnf('4305',plain,
~ node154(c_s,s11),
inference(resolution,[],['4289','4304']) ).
cnf('4306',plain,
( ~ m_state_v_A2M(X,Y,c_extend)
| ~ m_state_v_A2M(X,Y,c_retract) ),
inference(cnf_transformation,[],[m_state_8]) ).
cnf('4307',plain,
~ m_state_v_A2M(c_s,s11,c_retract),
inference(resolution,[],['4288','4306']) ).
cnf('4308',plain,
~ node152(c_s,s11),
inference(resolution,[],['4307','368']) ).
cnf('4309',plain,
~ node151(c_s,s11),
inference(resolution,[],['4307','39']) ).
cnf('4310',plain,
~ m_state_v_angle(c_s,s11,c_arm1totable),
inference(resolution,[],['3819','130']) ).
cnf('4311',plain,
~ node150(c_s,s11),
inference(resolution,[],['4310','3959']) ).
cnf('4312',plain,
( ~ node159(c_s,s11,X)
| node158(c_s,s11,X) ),
inference(resolution,[then_simplify],['4041','9','4062','4291','4303','4305','4308','4309','4311']) ).
cnf('4313',plain,
node159(c_s,s11,s12),
inference(resolution,[],['4','1940']) ).
cnf('4314',plain,
node158(c_s,s11,s12),
inference(resolution,[],['4312','4313']) ).
cnf('4315',plain,
~ m_state_v_RRM(c_s,s12,c_counterclock),
inference(resolution,[],['4039','4314']) ).
cnf('4316',plain,
~ node38(c_s,s12),
inference(resolution,[],['4315','91']) ).
cnf('4317',plain,
( ~ node158(c_s,s10,X)
| m_state_v_RRM(c_s,X,c_idle) ),
inference(resolution,[],['3963','3821']) ).
cnf('4318',plain,
m_state_v_RRM(c_s,s11,c_idle),
inference(resolution,[],['4014','4317']) ).
cnf('4319',plain,
node48(c_s,s11,s12),
inference(resolution,[],['64','1940']) ).
cnf('4320',plain,
( ~ m_state_v_angle(c_s,s11,c_arm2topress)
| ~ m_state_v_RRM(c_s,s11,c_idle)
| m_state_v_angle_status(c_s,s12,c_arm2stoppedatpress)
| node43(c_s,s11) ),
inference(resolution,[],['4319','4019']) ).
cnf('4321',plain,
m_state_v_angle(c_s,s11,c_arm2topress),
inference(resolution,[],['3681','3818']) ).
cnf('4322',plain,
~ node43(c_s,s11),
inference(resolution,[],['4310','3801']) ).
cnf('4323',plain,
m_state_v_angle_status(c_s,s12,c_arm2stoppedatpress),
inference(resolution,[then_simplify],['4318','4320','4321','4322']) ).
cnf('4324',plain,
~ m_state_v_angle_status(c_s,s12,c_arm2stoppedatbelt),
inference(resolution,[],['4323','4024']) ).
cnf('4325',plain,
~ node39(c_s,s12),
inference(resolution,[],['4324','78']) ).
cnf('4326',plain,
node42(c_s,s12,s13),
inference(resolution,[],['58','2036']) ).
cnf('4327',plain,
( node41(c_s,s12,s13)
| node37(c_s,s12)
| node38(c_s,s12)
| node39(c_s,s12)
| node40(c_s,s12) ),
inference(resolution,[],['4326','62']) ).
cnf('4328',plain,
~ m_state_v_angle_status(c_s,s12,c_arm1stoppedattable),
inference(resolution,[],['4323','80']) ).
cnf('4329',plain,
~ node37(c_s,s12),
inference(resolution,[],['4328','4030']) ).
cnf('4330',plain,
~ m_state_v_angle_status(c_s,s12,c_arm1stoppedatpress),
inference(resolution,[],['4323','4032']) ).
cnf('4331',plain,
~ node40(c_s,s12),
inference(resolution,[],['4330','74']) ).
cnf('4332',plain,
( node41(c_s,s12,s13)
| node38(c_s,s12) ),
inference(resolution,[then_simplify],['4325','4327','4329','4331']) ).
cnf('4333',plain,
node41(c_s,s12,s13),
inference(resolution,[],['4316','4332']) ).
cnf('4334',plain,
m_state_v_angle(c_s,s13,c_arm2topress),
inference(resolution,[],['4038','4333']) ).
cnf('4335',plain,
( ~ node41(c_s,s13,X)
| m_state_v_angle(c_s,X,c_arm2topress) ),
inference(resolution,[],['4334','96']) ).
cnf('4336',plain,
( ~ node158(c_s,s12,X)
| ~ m_state_v_RRM(c_s,X,c_counterclock) ),
inference(resolution,[],['4315','48']) ).
cnf('4337',plain,
~ m_state_v_angle(c_s,s12,c_arm1topress),
inference(resolution,[],['4037','1210']) ).
cnf('4338',plain,
~ node153(c_s,s12),
inference(resolution,[],['4337','30']) ).
cnf('4339',plain,
node36(c_s,s11,s12),
inference(resolution,[],['294','1940']) ).
cnf('4340',plain,
( ~ node36(X,Y,Z)
| ~ m_state_v_A2M(X,Y,c_extend)
| ~ m_state_v_angle(X,Y,c_arm2topress)
| m_state_v_a2ext(X,Z,c_a2ip) ),
inference(cnf_transformation,[],[m_Sensor_53]) ).
cnf('4341',plain,
( ~ m_state_v_angle(c_s,s11,c_arm2topress)
| ~ m_state_v_A2M(c_s,s11,c_extend)
| m_state_v_a2ext(c_s,s12,c_a2ip) ),
inference(resolution,[],['4339','4340']) ).
cnf('4342',plain,
m_state_v_A2M(c_s,s11,c_extend),
inference(resolution,[then_simplify],['3963','4065','4021','4167','4183','4194','4195','4198','4199','4200','4208','4287']) ).
cnf('4343',plain,
m_state_v_a2ext(c_s,s12,c_a2ip),
inference(resolution,[then_simplify],['3819','4341','4342']) ).
cnf('4344',plain,
~ m_state_v_a2ext(c_s,s12,c_retracted),
inference(resolution,[],['4343','313']) ).
cnf('4345',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node157(X,Y) ),
inference(cnf_transformation,[],[m_Robot_168]) ).
cnf('4346',plain,
~ node157(c_s,s12),
inference(resolution,[],['4344','4345']) ).
cnf('4347',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node156(X,Y) ),
inference(cnf_transformation,[],[m_Robot_160]) ).
cnf('4348',plain,
~ node156(c_s,s12),
inference(resolution,[],['4344','4347']) ).
cnf('4349',plain,
( ~ node140(c_s,s9,X)
| ~ m_state_v_A2M(c_s,X,c_extend) ),
inference(resolution,[],['4185','347']) ).
cnf('4350',plain,
~ m_state_v_A2M(c_s,s10,c_extend),
inference(resolution,[],['4006','4349']) ).
cnf('4351',plain,
~ node34(c_s,s10),
inference(resolution,[],['4350','647']) ).
cnf('4352',plain,
node36(c_s,s10,s11),
inference(resolution,[],['294','1610']) ).
cnf('4353',plain,
( m_state_v_A2M(c_s,s10,c_retract)
| node35(c_s,s10,s11)
| node33(c_s,s10)
| node34(c_s,s10) ),
inference(resolution,[],['4352','296']) ).
cnf('4354',plain,
~ m_state_v_A2M(c_s,s10,c_retract),
inference(resolution,[],['4006','4007']) ).
cnf('4355',plain,
~ node33(c_s,s10),
inference(resolution,[],['4350','301']) ).
cnf('4356',plain,
node35(c_s,s10,s11),
inference(resolution,[then_simplify],['4351','4353','4354','4355']) ).
cnf('4357',plain,
( ~ node35(c_s,s10,X)
| ~ m_state_v_a2ext(c_s,X,c_a2ip) ),
inference(resolution,[],['4298','305']) ).
cnf('4358',plain,
~ m_state_v_a2ext(c_s,s11,c_a2ip),
inference(resolution,[],['4356','4357']) ).
cnf('4359',plain,
~ node146(c_s,s11),
inference(resolution,[],['4358','405']) ).
cnf('4360',plain,
node149(c_s,s11,s12),
inference(resolution,[],['400','1940']) ).
cnf('4361',plain,
( node148(c_s,s11,s12)
| node146(c_s,s11)
| node147(c_s,s11) ),
inference(resolution,[],['4360','402']) ).
cnf('4362',plain,
( ~ node35(c_s,s10,X)
| ~ m_state_v_a2ext(c_s,X,c_ob) ),
inference(resolution,[],['4293','305']) ).
cnf('4363',plain,
~ m_state_v_a2ext(c_s,s11,c_ob),
inference(resolution,[],['4356','4362']) ).
cnf('4364',plain,
~ node147(c_s,s11),
inference(resolution,[],['4363','403']) ).
cnf('4365',plain,
node148(c_s,s11,s12),
inference(resolution,[then_simplify],['4359','4361','4364']) ).
cnf('4366',plain,
( ~ node148(c_s,s11,X)
| ~ m_state_v_A2Mag(c_s,X,c_on) ),
inference(resolution,[],['4302','408']) ).
cnf('4367',plain,
~ m_state_v_A2Mag(c_s,s12,c_on),
inference(resolution,[],['4365','4366']) ).
cnf('4368',plain,
~ node155(c_s,s12),
inference(resolution,[],['4367','23']) ).
cnf('4369',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node154(X,Y) ),
inference(cnf_transformation,[],[m_Robot_144]) ).
cnf('4370',plain,
~ node154(c_s,s12),
inference(resolution,[],['4344','4369']) ).
cnf('4371',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node152(X,Y) ),
inference(cnf_transformation,[],[m_Robot_139]) ).
cnf('4372',plain,
~ node152(c_s,s12),
inference(resolution,[],['4344','4371']) ).
cnf('4373',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node151(X,Y) ),
inference(cnf_transformation,[],[m_Robot_136]) ).
cnf('4374',plain,
~ node151(c_s,s12),
inference(resolution,[],['4344','4373']) ).
cnf('4375',plain,
~ m_state_v_angle(c_s,s12,c_arm1totable),
inference(resolution,[],['4037','130']) ).
cnf('4376',plain,
~ node150(c_s,s12),
inference(resolution,[],['4375','3959']) ).
cnf('4377',plain,
( ~ node159(c_s,s12,X)
| node158(c_s,s12,X) ),
inference(resolution,[then_simplify],['4338','9','4346','4348','4368','4370','4372','4374','4376']) ).
cnf('4378',plain,
node159(c_s,s12,s13),
inference(resolution,[],['4','2036']) ).
cnf('4379',plain,
node158(c_s,s12,s13),
inference(resolution,[],['4377','4378']) ).
cnf('4380',plain,
~ m_state_v_RRM(c_s,s13,c_counterclock),
inference(resolution,[],['4336','4379']) ).
cnf('4381',plain,
~ node38(c_s,s13),
inference(resolution,[],['4380','91']) ).
cnf('4382',plain,
( ~ node158(c_s,s11,X)
| m_state_v_RRM(c_s,X,c_idle) ),
inference(resolution,[],['4318','3821']) ).
cnf('4383',plain,
m_state_v_RRM(c_s,s12,c_idle),
inference(resolution,[],['4382','4314']) ).
cnf('4384',plain,
node48(c_s,s12,s13),
inference(resolution,[],['64','2036']) ).
cnf('4385',plain,
( ~ m_state_v_angle(c_s,s12,c_arm2topress)
| ~ m_state_v_RRM(c_s,s12,c_idle)
| m_state_v_angle_status(c_s,s13,c_arm2stoppedatpress)
| node43(c_s,s12) ),
inference(resolution,[],['4384','4019']) ).
cnf('4386',plain,
m_state_v_angle(c_s,s12,c_arm2topress),
inference(resolution,[],['3820','4036']) ).
cnf('4387',plain,
~ node43(c_s,s12),
inference(resolution,[],['4375','3801']) ).
cnf('4388',plain,
m_state_v_angle_status(c_s,s13,c_arm2stoppedatpress),
inference(resolution,[then_simplify],['4383','4385','4386','4387']) ).
cnf('4389',plain,
~ m_state_v_angle_status(c_s,s13,c_arm2stoppedatbelt),
inference(resolution,[],['4388','4024']) ).
cnf('4390',plain,
~ node39(c_s,s13),
inference(resolution,[],['4389','78']) ).
cnf('4391',plain,
node42(c_s,s13,s14),
inference(resolution,[],['58','2062']) ).
cnf('4392',plain,
( node41(c_s,s13,s14)
| node37(c_s,s13)
| node38(c_s,s13)
| node39(c_s,s13)
| node40(c_s,s13) ),
inference(resolution,[],['4391','62']) ).
cnf('4393',plain,
~ m_state_v_angle_status(c_s,s13,c_arm1stoppedattable),
inference(resolution,[],['4388','80']) ).
cnf('4394',plain,
~ node37(c_s,s13),
inference(resolution,[],['4393','4030']) ).
cnf('4395',plain,
~ m_state_v_angle_status(c_s,s13,c_arm1stoppedatpress),
inference(resolution,[],['4388','4032']) ).
cnf('4396',plain,
~ node40(c_s,s13),
inference(resolution,[],['4395','74']) ).
cnf('4397',plain,
( node41(c_s,s13,s14)
| node38(c_s,s13) ),
inference(resolution,[then_simplify],['4390','4392','4394','4396']) ).
cnf('4398',plain,
node41(c_s,s13,s14),
inference(resolution,[],['4381','4397']) ).
cnf('4399',plain,
m_state_v_angle(c_s,s14,c_arm2topress),
inference(resolution,[],['4335','4398']) ).
cnf('4400',plain,
( ~ node41(c_s,s14,X)
| m_state_v_angle(c_s,X,c_arm2topress) ),
inference(resolution,[],['4399','96']) ).
cnf('4401',plain,
( ~ node158(c_s,s13,X)
| ~ m_state_v_RRM(c_s,X,c_counterclock) ),
inference(resolution,[],['4380','48']) ).
cnf('4402',plain,
~ m_state_v_angle(c_s,s13,c_arm1topress),
inference(resolution,[],['4334','1210']) ).
cnf('4403',plain,
~ node153(c_s,s13),
inference(resolution,[],['4402','30']) ).
cnf('4404',plain,
node149(c_s,s12,s13),
inference(resolution,[],['400','2036']) ).
cnf('4405',plain,
( ~ node149(X,Y,Z)
| ~ m_state_v_a2ext(X,Y,c_a2ip)
| ~ m_state_v_A2M(X,Y,c_extend)
| ~ m_state_v_angle(X,Y,c_arm2topress)
| m_state_v_A2Mag(X,Z,c_on) ),
inference(cnf_transformation,[],[m_Robot_127]) ).
cnf('4406',plain,
( ~ m_state_v_angle(c_s,s12,c_arm2topress)
| ~ m_state_v_a2ext(c_s,s12,c_a2ip)
| ~ m_state_v_A2M(c_s,s12,c_extend)
| m_state_v_A2Mag(c_s,s13,c_on) ),
inference(resolution,[],['4404','4405']) ).
cnf('4407',plain,
m_state_v_a2ext(c_s,s12,c_a2ip),
inference(resolution,[then_simplify],['3819','4341','4342']) ).
cnf('4408',plain,
( ~ node140(c_s,s11,X)
| m_state_v_A2M(c_s,X,c_extend) ),
inference(resolution,[],['4288','911']) ).
cnf('4409',plain,
~ node138(c_s,s11),
inference(resolution,[],['4307','351']) ).
cnf('4410',plain,
node141(c_s,s11,s12),
inference(resolution,[],['286','1940']) ).
cnf('4411',plain,
( node140(c_s,s11,s12)
| node132(c_s,s11)
| node133(c_s,s11)
| node134(c_s,s11)
| node135(c_s,s11)
| node136(c_s,s11)
| node137(c_s,s11)
| node138(c_s,s11)
| node139(c_s,s11) ),
inference(resolution,[],['4410','288']) ).
cnf('4412',plain,
( m_state_v_A2M(X,Y,c_idle)
| ~ node132(X,Y) ),
inference(cnf_transformation,[],[m_Robot_60]) ).
cnf('4413',plain,
~ node132(c_s,s11),
inference(resolution,[],['4289','4412']) ).
cnf('4414',plain,
~ node133(c_s,s11),
inference(resolution,[],['4302','675']) ).
cnf('4415',plain,
~ node134(c_s,s11),
inference(resolution,[],['4358','321']) ).
cnf('4416',plain,
~ node135(c_s,s11),
inference(resolution,[],['4363','319']) ).
cnf('4417',plain,
~ node136(c_s,s11),
inference(resolution,[],['4302','355']) ).
cnf('4418',plain,
~ node137(c_s,s11),
inference(resolution,[],['4363','311']) ).
cnf('4419',plain,
~ node139(c_s,s11),
inference(resolution,[],['4307','569']) ).
cnf('4420',plain,
node140(c_s,s11,s12),
inference(resolution,[then_simplify],['4409','4411','4413','4414','4415','4416','4417','4418','4419']) ).
cnf('4421',plain,
m_state_v_A2M(c_s,s12,c_extend),
inference(resolution,[],['4408','4420']) ).
cnf('4422',plain,
m_state_v_A2Mag(c_s,s13,c_on),
inference(resolution,[then_simplify],['4037','4406','4407','4421']) ).
cnf('4423',plain,
~ m_state_v_A2Mag(c_s,s13,c_off),
inference(resolution,[],['4422','20']) ).
cnf('4424',plain,
( m_state_v_A2Mag(X,Y,c_off)
| ~ node157(X,Y) ),
inference(cnf_transformation,[],[m_Robot_173]) ).
cnf('4425',plain,
~ node157(c_s,s13),
inference(resolution,[],['4423','4424']) ).
cnf('4426',plain,
( m_state_v_A2Mag(X,Y,c_off)
| ~ node156(X,Y) ),
inference(cnf_transformation,[],[m_Robot_165]) ).
cnf('4427',plain,
~ node156(c_s,s13),
inference(resolution,[],['4423','4426']) ).
cnf('4428',plain,
node36(c_s,s12,s13),
inference(resolution,[],['294','2036']) ).
cnf('4429',plain,
( ~ m_state_v_angle(c_s,s12,c_arm2topress)
| ~ m_state_v_A2M(c_s,s12,c_extend)
| m_state_v_a2ext(c_s,s13,c_a2ip) ),
inference(resolution,[],['4428','4340']) ).
cnf('4430',plain,
m_state_v_a2ext(c_s,s13,c_a2ip),
inference(resolution,[then_simplify],['4037','4429','4421']) ).
cnf('4431',plain,
~ m_state_v_a2ext(c_s,s13,c_retracted),
inference(resolution,[],['4430','313']) ).
cnf('4432',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node155(X,Y) ),
inference(cnf_transformation,[],[m_Robot_152]) ).
cnf('4433',plain,
~ node155(c_s,s13),
inference(resolution,[],['4431','4432']) ).
cnf('4434',plain,
( m_state_v_A2Mag(X,Y,c_off)
| ~ node154(X,Y) ),
inference(cnf_transformation,[],[m_Robot_149]) ).
cnf('4435',plain,
~ node154(c_s,s13),
inference(resolution,[],['4423','4434']) ).
cnf('4436',plain,
node141(c_s,s12,s13),
inference(resolution,[],['286','2036']) ).
cnf('4437',plain,
( ~ node141(X,Y,Z)
| ~ m_state_v_a2ext(X,Y,c_a2ip)
| ~ m_state_v_A2M(X,Y,c_extend)
| ~ m_state_v_angle(X,Y,c_arm2topress)
| m_state_v_A2M(X,Z,c_idle)
| node133(X,Y)
| node132(X,Y) ),
inference(cnf_transformation,[],[m_Robot_99]) ).
cnf('4438',plain,
( ~ m_state_v_angle(c_s,s12,c_arm2topress)
| ~ m_state_v_a2ext(c_s,s12,c_a2ip)
| ~ m_state_v_A2M(c_s,s12,c_extend)
| m_state_v_A2M(c_s,s13,c_idle)
| node132(c_s,s12)
| node133(c_s,s12) ),
inference(resolution,[],['4436','4437']) ).
cnf('4439',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node132(X,Y) ),
inference(cnf_transformation,[],[m_Robot_57]) ).
cnf('4440',plain,
~ node132(c_s,s12),
inference(resolution,[],['4344','4439']) ).
cnf('4441',plain,
~ node133(c_s,s12),
inference(resolution,[],['4367','675']) ).
cnf('4442',plain,
m_state_v_A2M(c_s,s13,c_idle),
inference(resolution,[then_simplify],['4037','4438','4407','4421','4440','4441']) ).
cnf('4443',plain,
~ m_state_v_A2M(c_s,s13,c_retract),
inference(resolution,[],['4442','36']) ).
cnf('4444',plain,
~ node152(c_s,s13),
inference(resolution,[],['4443','368']) ).
cnf('4445',plain,
~ node151(c_s,s13),
inference(resolution,[],['4443','39']) ).
cnf('4446',plain,
~ m_state_v_angle(c_s,s13,c_arm1totable),
inference(resolution,[],['4334','130']) ).
cnf('4447',plain,
~ node150(c_s,s13),
inference(resolution,[],['4446','3959']) ).
cnf('4448',plain,
( ~ node159(c_s,s13,X)
| node158(c_s,s13,X) ),
inference(resolution,[then_simplify],['4403','9','4425','4427','4433','4435','4444','4445','4447']) ).
cnf('4449',plain,
node159(c_s,s13,s14),
inference(resolution,[],['4','2062']) ).
cnf('4450',plain,
node158(c_s,s13,s14),
inference(resolution,[],['4448','4449']) ).
cnf('4451',plain,
~ m_state_v_RRM(c_s,s14,c_counterclock),
inference(resolution,[],['4401','4450']) ).
cnf('4452',plain,
~ node38(c_s,s14),
inference(resolution,[],['4451','91']) ).
cnf('4453',plain,
( ~ node158(c_s,s12,X)
| m_state_v_RRM(c_s,X,c_idle) ),
inference(resolution,[],['4383','3821']) ).
cnf('4454',plain,
m_state_v_RRM(c_s,s13,c_idle),
inference(resolution,[],['4453','4379']) ).
cnf('4455',plain,
node48(c_s,s13,s14),
inference(resolution,[],['64','2062']) ).
cnf('4456',plain,
( ~ m_state_v_angle(c_s,s13,c_arm2topress)
| ~ m_state_v_RRM(c_s,s13,c_idle)
| m_state_v_angle_status(c_s,s14,c_arm2stoppedatpress)
| node43(c_s,s13) ),
inference(resolution,[],['4455','4019']) ).
cnf('4457',plain,
m_state_v_angle(c_s,s13,c_arm2topress),
inference(resolution,[],['4038','4333']) ).
cnf('4458',plain,
~ node43(c_s,s13),
inference(resolution,[],['4446','3801']) ).
cnf('4459',plain,
m_state_v_angle_status(c_s,s14,c_arm2stoppedatpress),
inference(resolution,[then_simplify],['4454','4456','4457','4458']) ).
cnf('4460',plain,
~ m_state_v_angle_status(c_s,s14,c_arm2stoppedatbelt),
inference(resolution,[],['4459','4024']) ).
cnf('4461',plain,
~ node39(c_s,s14),
inference(resolution,[],['4460','78']) ).
cnf('4462',plain,
node42(c_s,s14,s15),
inference(resolution,[],['58','2121']) ).
cnf('4463',plain,
( node41(c_s,s14,s15)
| node37(c_s,s14)
| node38(c_s,s14)
| node39(c_s,s14)
| node40(c_s,s14) ),
inference(resolution,[],['4462','62']) ).
cnf('4464',plain,
~ m_state_v_angle_status(c_s,s14,c_arm1stoppedattable),
inference(resolution,[],['4459','80']) ).
cnf('4465',plain,
~ node37(c_s,s14),
inference(resolution,[],['4464','4030']) ).
cnf('4466',plain,
~ m_state_v_angle_status(c_s,s14,c_arm1stoppedatpress),
inference(resolution,[],['4459','4032']) ).
cnf('4467',plain,
~ node40(c_s,s14),
inference(resolution,[],['4466','74']) ).
cnf('4468',plain,
( node41(c_s,s14,s15)
| node38(c_s,s14) ),
inference(resolution,[then_simplify],['4461','4463','4465','4467']) ).
cnf('4469',plain,
node41(c_s,s14,s15),
inference(resolution,[],['4452','4468']) ).
cnf('4470',plain,
m_state_v_angle(c_s,s15,c_arm2topress),
inference(resolution,[],['4400','4469']) ).
cnf('4471',plain,
node141(c_s,s15,s16),
inference(resolution,[],['286','2150']) ).
cnf('4472',plain,
( ~ node141(X,Y,Z)
| ~ m_state_v_a2ext(X,Y,c_retracted)
| ~ m_state_v_A2M(X,Y,c_retract)
| ~ m_state_v_angle(X,Y,c_arm2topress)
| m_state_v_A2M(X,Z,c_idle)
| node137(X,Y)
| node136(X,Y)
| node135(X,Y)
| node134(X,Y)
| node133(X,Y)
| node132(X,Y) ),
inference(cnf_transformation,[],[m_Robot_103]) ).
cnf('4473',plain,
( ~ m_state_v_angle(c_s,s15,c_arm2topress)
| ~ m_state_v_A2M(c_s,s15,c_retract)
| ~ m_state_v_a2ext(c_s,s15,c_retracted)
| m_state_v_A2M(c_s,s16,c_idle)
| node132(c_s,s15)
| node133(c_s,s15)
| node134(c_s,s15)
| node135(c_s,s15)
| node136(c_s,s15)
| node137(c_s,s15) ),
inference(resolution,[],['4471','4472']) ).
cnf('4474',plain,
node141(c_s,s13,s14),
inference(resolution,[],['286','2062']) ).
cnf('4475',plain,
( ~ node141(X,Y,Z)
| ~ m_state_v_A2Mag(X,Y,c_on)
| ~ m_state_v_a2ext(X,Y,c_a2ip)
| ~ m_state_v_A2M(X,Y,c_idle)
| ~ m_state_v_angle(X,Y,c_arm2topress)
| m_state_v_A2M(X,Z,c_retract)
| node135(X,Y)
| node134(X,Y)
| node133(X,Y)
| node132(X,Y) ),
inference(cnf_transformation,[],[m_Robot_101]) ).
cnf('4476',plain,
( ~ m_state_v_angle(c_s,s13,c_arm2topress)
| ~ m_state_v_a2ext(c_s,s13,c_a2ip)
| ~ m_state_v_A2Mag(c_s,s13,c_on)
| ~ m_state_v_A2M(c_s,s13,c_idle)
| m_state_v_A2M(c_s,s14,c_retract)
| node132(c_s,s13)
| node133(c_s,s13)
| node134(c_s,s13)
| node135(c_s,s13) ),
inference(resolution,[],['4474','4475']) ).
cnf('4477',plain,
m_state_v_a2ext(c_s,s13,c_a2ip),
inference(resolution,[then_simplify],['4037','4429','4421']) ).
cnf('4478',plain,
m_state_v_A2Mag(c_s,s13,c_on),
inference(resolution,[then_simplify],['4037','4406','4407','4421']) ).
cnf('4479',plain,
m_state_v_A2M(c_s,s13,c_idle),
inference(resolution,[then_simplify],['4037','4438','4407','4421','4440','4441']) ).
cnf('4480',plain,
( m_state_v_A2Mag(X,Y,c_off)
| ~ node132(X,Y) ),
inference(cnf_transformation,[],[m_Robot_62]) ).
cnf('4481',plain,
~ node132(c_s,s13),
inference(resolution,[],['4423','4480']) ).
cnf('4482',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node133(X,Y) ),
inference(cnf_transformation,[],[m_Robot_68]) ).
cnf('4483',plain,
~ node133(c_s,s13),
inference(resolution,[],['4431','4482']) ).
cnf('4484',plain,
~ m_state_v_A2M(c_s,s13,c_extend),
inference(resolution,[],['4442','299']) ).
cnf('4485',plain,
~ node134(c_s,s13),
inference(resolution,[],['4484','359']) ).
cnf('4486',plain,
( m_state_v_A2M(X,Y,c_extend)
| ~ node135(X,Y) ),
inference(cnf_transformation,[],[m_Robot_79]) ).
cnf('4487',plain,
~ node135(c_s,s13),
inference(resolution,[],['4484','4486']) ).
cnf('4488',plain,
m_state_v_A2M(c_s,s14,c_retract),
inference(resolution,[then_simplify],['4334','4476','4477','4478','4479','4481','4483','4485','4487']) ).
cnf('4489',plain,
( ~ node140(c_s,s14,X)
| m_state_v_A2M(c_s,X,c_retract) ),
inference(resolution,[],['4488','911']) ).
cnf('4490',plain,
( ~ node35(c_s,s13,X)
| m_state_v_a2ext(c_s,X,c_a2ip) ),
inference(resolution,[],['4430','430']) ).
cnf('4491',plain,
~ node34(c_s,s13),
inference(resolution,[],['4484','647']) ).
cnf('4492',plain,
node36(c_s,s13,s14),
inference(resolution,[],['294','2062']) ).
cnf('4493',plain,
( m_state_v_A2M(c_s,s13,c_retract)
| node35(c_s,s13,s14)
| node33(c_s,s13)
| node34(c_s,s13) ),
inference(resolution,[],['4492','296']) ).
cnf('4494',plain,
~ m_state_v_A2M(c_s,s13,c_retract),
inference(resolution,[],['4442','36']) ).
cnf('4495',plain,
~ node33(c_s,s13),
inference(resolution,[],['4484','301']) ).
cnf('4496',plain,
node35(c_s,s13,s14),
inference(resolution,[then_simplify],['4491','4493','4494','4495']) ).
cnf('4497',plain,
m_state_v_a2ext(c_s,s14,c_a2ip),
inference(resolution,[],['4490','4496']) ).
cnf('4498',plain,
~ m_state_v_a2ext(c_s,s14,c_retracted),
inference(resolution,[],['4497','313']) ).
cnf('4499',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node138(X,Y) ),
inference(cnf_transformation,[],[m_Robot_91]) ).
cnf('4500',plain,
~ node138(c_s,s14),
inference(resolution,[],['4498','4499']) ).
cnf('4501',plain,
node141(c_s,s14,s15),
inference(resolution,[],['286','2121']) ).
cnf('4502',plain,
( node140(c_s,s14,s15)
| node132(c_s,s14)
| node133(c_s,s14)
| node134(c_s,s14)
| node135(c_s,s14)
| node136(c_s,s14)
| node137(c_s,s14)
| node138(c_s,s14)
| node139(c_s,s14) ),
inference(resolution,[],['4501','288']) ).
cnf('4503',plain,
~ m_state_v_A2M(c_s,s14,c_idle),
inference(resolution,[],['4488','36']) ).
cnf('4504',plain,
~ node132(c_s,s14),
inference(resolution,[],['4503','4412']) ).
cnf('4505',plain,
( m_state_v_A2M(X,Y,c_idle)
| ~ node133(X,Y) ),
inference(cnf_transformation,[],[m_Robot_71]) ).
cnf('4506',plain,
~ node133(c_s,s14),
inference(resolution,[],['4503','4505']) ).
cnf('4507',plain,
~ m_state_v_A2M(c_s,s14,c_extend),
inference(resolution,[],['4488','4306']) ).
cnf('4508',plain,
~ node134(c_s,s14),
inference(resolution,[],['4507','359']) ).
cnf('4509',plain,
~ node135(c_s,s14),
inference(resolution,[],['4507','4486']) ).
cnf('4510',plain,
( m_state_v_A2M(X,Y,c_idle)
| ~ node136(X,Y) ),
inference(cnf_transformation,[],[m_Robot_83]) ).
cnf('4511',plain,
~ node136(c_s,s14),
inference(resolution,[],['4503','4510']) ).
cnf('4512',plain,
( m_state_v_A2M(X,Y,c_idle)
| ~ node137(X,Y) ),
inference(cnf_transformation,[],[m_Robot_87]) ).
cnf('4513',plain,
~ node137(c_s,s14),
inference(resolution,[],['4503','4512']) ).
cnf('4514',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node139(X,Y) ),
inference(cnf_transformation,[],[m_Robot_94]) ).
cnf('4515',plain,
~ node139(c_s,s14),
inference(resolution,[],['4498','4514']) ).
cnf('4516',plain,
node140(c_s,s14,s15),
inference(resolution,[then_simplify],['4500','4502','4504','4506','4508','4509','4511','4513','4515']) ).
cnf('4517',plain,
m_state_v_A2M(c_s,s15,c_retract),
inference(resolution,[],['4489','4516']) ).
cnf('4518',plain,
~ node34(c_s,s14),
inference(resolution,[],['4507','647']) ).
cnf('4519',plain,
node36(c_s,s14,s15),
inference(resolution,[],['294','2121']) ).
cnf('4520',plain,
( ~ node36(X,Y,Z)
| ~ m_state_v_A2M(X,Y,c_retract)
| m_state_v_a2ext(X,Z,c_retracted)
| node34(X,Y)
| node33(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_55]) ).
cnf('4521',plain,
( ~ m_state_v_A2M(c_s,s14,c_retract)
| m_state_v_a2ext(c_s,s15,c_retracted)
| node33(c_s,s14)
| node34(c_s,s14) ),
inference(resolution,[],['4519','4520']) ).
cnf('4522',plain,
m_state_v_A2M(c_s,s14,c_retract),
inference(resolution,[then_simplify],['4334','4476','4477','4478','4479','4481','4483','4485','4487']) ).
cnf('4523',plain,
~ node33(c_s,s14),
inference(resolution,[],['4507','301']) ).
cnf('4524',plain,
m_state_v_a2ext(c_s,s15,c_retracted),
inference(resolution,[then_simplify],['4518','4521','4522','4523']) ).
cnf('4525',plain,
m_state_v_A2M(c_s,s15,c_retract),
inference(resolution,[],['4489','4516']) ).
cnf('4526',plain,
~ m_state_v_A2M(c_s,s15,c_idle),
inference(resolution,[],['4525','36']) ).
cnf('4527',plain,
~ node132(c_s,s15),
inference(resolution,[],['4526','4412']) ).
cnf('4528',plain,
~ node133(c_s,s15),
inference(resolution,[],['4526','4505']) ).
cnf('4529',plain,
m_state_v_a2ext(c_s,s15,c_retracted),
inference(resolution,[then_simplify],['4518','4521','4522','4523']) ).
cnf('4530',plain,
~ m_state_v_a2ext(c_s,s15,c_a2ip),
inference(resolution,[],['4529','313']) ).
cnf('4531',plain,
~ node134(c_s,s15),
inference(resolution,[],['4530','321']) ).
cnf('4532',plain,
~ m_state_v_a2ext(c_s,s15,c_ob),
inference(resolution,[],['4529','306']) ).
cnf('4533',plain,
~ node135(c_s,s15),
inference(resolution,[],['4532','319']) ).
cnf('4534',plain,
~ node136(c_s,s15),
inference(resolution,[],['4530','317']) ).
cnf('4535',plain,
~ node137(c_s,s15),
inference(resolution,[],['4532','311']) ).
cnf('4536',plain,
m_state_v_A2M(c_s,s16,c_idle),
inference(resolution,[then_simplify],['4470','4473','4517','4524','4527','4528','4531','4533','4534','4535']) ).
cnf('4537',plain,
~ m_state_v_A2M(c_s,s16,c_retract),
inference(resolution,[],['4536','36']) ).
cnf('4538',plain,
( m_state_v_A2M(X,Y,c_retract)
| ~ node6(X,Y) ),
inference(cnf_transformation,[],[m_Communication_16]) ).
cnf('4539',plain,
~ node6(c_s,s16),
inference(resolution,[],['4537','4538']) ).
cnf('4540',plain,
~ node5(c_s,s16),
inference(resolution,[],['3271','334']) ).
cnf('4541',plain,
node8(c_s,s16,s17),
inference(resolution,[],['326','3274']) ).
cnf('4542',plain,
( node7(c_s,s16,s17)
| node6(c_s,s16)
| node5(c_s,s16) ),
inference(resolution,[],['4541','328']) ).
cnf('4543',plain,
( node7(c_s,s16,s17)
| node6(c_s,s16) ),
inference(resolution,[],['4540','4542']) ).
cnf('4544',plain,
node7(c_s,s16,s17),
inference(resolution,[],['4539','4543']) ).
cnf('4545',plain,
( ~ node7(X,Y,Z)
| ~ m_state_v_brl(X,Y)
| m_state_v_brl(X,Z) ),
inference(cnf_transformation,[],[m_Communication_18]) ).
cnf('4546',plain,
~ m_state_v_angle(c_s,s15,c_arm2todepbelt),
inference(resolution,[],['4470','1220']) ).
cnf('4547',plain,
~ node6(c_s,s15),
inference(resolution,[],['4546','329']) ).
cnf('4548',plain,
~ node5(c_s,s15),
inference(resolution,[],['3204','334']) ).
cnf('4549',plain,
node8(c_s,s15,s16),
inference(resolution,[],['326','2150']) ).
cnf('4550',plain,
( node7(c_s,s15,s16)
| node6(c_s,s15)
| node5(c_s,s15) ),
inference(resolution,[],['4549','328']) ).
cnf('4551',plain,
( node7(c_s,s15,s16)
| node6(c_s,s15) ),
inference(resolution,[],['4548','4550']) ).
cnf('4552',plain,
node7(c_s,s15,s16),
inference(resolution,[],['4547','4551']) ).
cnf('4553',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node6(X,Y) ),
inference(cnf_transformation,[],[m_Communication_17]) ).
cnf('4554',plain,
~ node6(c_s,s14),
inference(resolution,[],['4498','4553']) ).
cnf('4555',plain,
~ node5(c_s,s14),
inference(resolution,[],['3151','334']) ).
cnf('4556',plain,
node8(c_s,s14,s15),
inference(resolution,[],['326','2121']) ).
cnf('4557',plain,
( node7(c_s,s14,s15)
| node6(c_s,s14)
| node5(c_s,s14) ),
inference(resolution,[],['4556','328']) ).
cnf('4558',plain,
( node7(c_s,s14,s15)
| node6(c_s,s14) ),
inference(resolution,[],['4555','4557']) ).
cnf('4559',plain,
node7(c_s,s14,s15),
inference(resolution,[],['4554','4558']) ).
cnf('4560',plain,
~ node6(c_s,s13),
inference(resolution,[],['4443','4538']) ).
cnf('4561',plain,
~ node5(c_s,s13),
inference(resolution,[],['3100','334']) ).
cnf('4562',plain,
node8(c_s,s13,s14),
inference(resolution,[],['326','2062']) ).
cnf('4563',plain,
( node7(c_s,s13,s14)
| node6(c_s,s13)
| node5(c_s,s13) ),
inference(resolution,[],['4562','328']) ).
cnf('4564',plain,
( node7(c_s,s13,s14)
| node6(c_s,s13) ),
inference(resolution,[],['4561','4563']) ).
cnf('4565',plain,
node7(c_s,s13,s14),
inference(resolution,[],['4560','4564']) ).
cnf('4566',plain,
~ node6(c_s,s12),
inference(resolution,[],['4344','4553']) ).
cnf('4567',plain,
~ node5(c_s,s12),
inference(resolution,[],['3079','334']) ).
cnf('4568',plain,
node8(c_s,s12,s13),
inference(resolution,[],['326','2036']) ).
cnf('4569',plain,
( node7(c_s,s12,s13)
| node6(c_s,s12)
| node5(c_s,s12) ),
inference(resolution,[],['4568','328']) ).
cnf('4570',plain,
( node7(c_s,s12,s13)
| node6(c_s,s12) ),
inference(resolution,[],['4567','4569']) ).
cnf('4571',plain,
node7(c_s,s12,s13),
inference(resolution,[],['4566','4570']) ).
cnf('4572',plain,
~ node6(c_s,s11),
inference(resolution,[],['4307','4538']) ).
cnf('4573',plain,
~ node5(c_s,s11),
inference(resolution,[],['3065','334']) ).
cnf('4574',plain,
node8(c_s,s11,s12),
inference(resolution,[],['326','1940']) ).
cnf('4575',plain,
( node7(c_s,s11,s12)
| node6(c_s,s11)
| node5(c_s,s11) ),
inference(resolution,[],['4574','328']) ).
cnf('4576',plain,
( node7(c_s,s11,s12)
| node6(c_s,s11) ),
inference(resolution,[],['4573','4575']) ).
cnf('4577',plain,
node7(c_s,s11,s12),
inference(resolution,[],['4572','4576']) ).
cnf('4578',plain,
~ node6(c_s,s10),
inference(resolution,[],['4008','4538']) ).
cnf('4579',plain,
~ node5(c_s,s10),
inference(resolution,[],['2962','334']) ).
cnf('4580',plain,
node8(c_s,s10,s11),
inference(resolution,[],['326','1610']) ).
cnf('4581',plain,
( node7(c_s,s10,s11)
| node6(c_s,s10)
| node5(c_s,s10) ),
inference(resolution,[],['4580','328']) ).
cnf('4582',plain,
( node7(c_s,s10,s11)
| node6(c_s,s10) ),
inference(resolution,[],['4579','4581']) ).
cnf('4583',plain,
node7(c_s,s10,s11),
inference(resolution,[],['4578','4582']) ).
cnf('4584',plain,
~ node6(c_s,s9),
inference(resolution,[],['3956','4538']) ).
cnf('4585',plain,
~ node5(c_s,s9),
inference(resolution,[],['2895','334']) ).
cnf('4586',plain,
node8(c_s,s9,s10),
inference(resolution,[],['326','1214']) ).
cnf('4587',plain,
( node7(c_s,s9,s10)
| node6(c_s,s9)
| node5(c_s,s9) ),
inference(resolution,[],['4586','328']) ).
cnf('4588',plain,
( node7(c_s,s9,s10)
| node6(c_s,s9) ),
inference(resolution,[],['4585','4587']) ).
cnf('4589',plain,
node7(c_s,s9,s10),
inference(resolution,[],['4584','4588']) ).
cnf('4590',plain,
~ node6(c_s,s8),
inference(resolution,[],['3787','4538']) ).
cnf('4591',plain,
~ node5(c_s,s8),
inference(resolution,[],['2713','334']) ).
cnf('4592',plain,
node8(c_s,s8,s9),
inference(resolution,[],['326','1110']) ).
cnf('4593',plain,
( node7(c_s,s8,s9)
| node6(c_s,s8)
| node5(c_s,s8) ),
inference(resolution,[],['4592','328']) ).
cnf('4594',plain,
( node7(c_s,s8,s9)
| node6(c_s,s8) ),
inference(resolution,[],['4591','4593']) ).
cnf('4595',plain,
node7(c_s,s8,s9),
inference(resolution,[],['4590','4594']) ).
cnf('4596',plain,
~ node6(c_s,s7),
inference(resolution,[],['3772','4538']) ).
cnf('4597',plain,
~ node5(c_s,s7),
inference(resolution,[],['2659','334']) ).
cnf('4598',plain,
node8(c_s,s7,s8),
inference(resolution,[],['326','1099']) ).
cnf('4599',plain,
( node7(c_s,s7,s8)
| node6(c_s,s7)
| node5(c_s,s7) ),
inference(resolution,[],['4598','328']) ).
cnf('4600',plain,
( node7(c_s,s7,s8)
| node6(c_s,s7) ),
inference(resolution,[],['4597','4599']) ).
cnf('4601',plain,
node7(c_s,s7,s8),
inference(resolution,[],['4596','4600']) ).
cnf('4602',plain,
~ node6(c_s,s6),
inference(resolution,[],['1078','4538']) ).
cnf('4603',plain,
~ node5(c_s,s6),
inference(resolution,[],['2646','334']) ).
cnf('4604',plain,
node8(c_s,s6,s7),
inference(resolution,[],['326','949']) ).
cnf('4605',plain,
( node7(c_s,s6,s7)
| node6(c_s,s6)
| node5(c_s,s6) ),
inference(resolution,[],['4604','328']) ).
cnf('4606',plain,
( node7(c_s,s6,s7)
| node6(c_s,s6) ),
inference(resolution,[],['4603','4605']) ).
cnf('4607',plain,
node7(c_s,s6,s7),
inference(resolution,[],['4602','4606']) ).
cnf('4608',plain,
~ node6(c_s,s5),
inference(resolution,[],['929','4538']) ).
cnf('4609',plain,
~ node5(c_s,s5),
inference(resolution,[],['2633','334']) ).
cnf('4610',plain,
node8(c_s,s5,s6),
inference(resolution,[],['326','704']) ).
cnf('4611',plain,
( node7(c_s,s5,s6)
| node6(c_s,s5)
| node5(c_s,s5) ),
inference(resolution,[],['4610','328']) ).
cnf('4612',plain,
( node7(c_s,s5,s6)
| node6(c_s,s5) ),
inference(resolution,[],['4609','4611']) ).
cnf('4613',plain,
node7(c_s,s5,s6),
inference(resolution,[],['4608','4612']) ).
cnf('4614',plain,
~ node6(c_s,s4),
inference(resolution,[],['682','4538']) ).
cnf('4615',plain,
~ node5(c_s,s4),
inference(resolution,[],['2500','334']) ).
cnf('4616',plain,
node8(c_s,s4,s5),
inference(resolution,[],['326','601']) ).
cnf('4617',plain,
( node7(c_s,s4,s5)
| node6(c_s,s4)
| node5(c_s,s4) ),
inference(resolution,[],['4616','328']) ).
cnf('4618',plain,
( node7(c_s,s4,s5)
| node6(c_s,s4) ),
inference(resolution,[],['4615','4617']) ).
cnf('4619',plain,
node7(c_s,s4,s5),
inference(resolution,[],['4614','4618']) ).
cnf('4620',plain,
~ node6(c_s,s3),
inference(resolution,[],['582','4538']) ).
cnf('4621',plain,
~ node5(c_s,s3),
inference(resolution,[],['2422','334']) ).
cnf('4622',plain,
node8(c_s,s3,s4),
inference(resolution,[],['326','386']) ).
cnf('4623',plain,
( node7(c_s,s3,s4)
| node6(c_s,s3)
| node5(c_s,s3) ),
inference(resolution,[],['4622','328']) ).
cnf('4624',plain,
( node7(c_s,s3,s4)
| node6(c_s,s3) ),
inference(resolution,[],['4621','4623']) ).
cnf('4625',plain,
node7(c_s,s3,s4),
inference(resolution,[],['4620','4624']) ).
cnf('4626',plain,
node8(c_s,s2,s3),
inference(resolution,[],['326','175']) ).
cnf('4627',plain,
( ~ node8(X,Y,Z)
| ~ m_state_v_gvp(X,Y,c_sd)
| ~ m_state_v_CVM(X,Y,c_up)
| m_state_v_brl(X,Z) ),
inference(cnf_transformation,[],[m_Communication_20]) ).
cnf('4628',plain,
( ~ m_state_v_gvp(c_s,s2,c_sd)
| ~ m_state_v_CVM(c_s,s2,c_up)
| m_state_v_brl(c_s,s3) ),
inference(resolution,[],['4626','4627']) ).
cnf('4629',plain,
( ~ m_state_v_CVM(c_s,s2,c_up)
| m_state_v_brl(c_s,s3) ),
inference(resolution,[],['2214','4628']) ).
cnf('4630',plain,
m_state_v_brl(c_s,s3),
inference(resolution,[],['2414','4629']) ).
cnf('4631',plain,
m_state_v_brl(c_s,s4),
inference(resolution,[then_simplify],['4625','4545','4630']) ).
cnf('4632',plain,
m_state_v_brl(c_s,s5),
inference(resolution,[then_simplify],['4619','4545','4631']) ).
cnf('4633',plain,
m_state_v_brl(c_s,s6),
inference(resolution,[then_simplify],['4613','4545','4632']) ).
cnf('4634',plain,
m_state_v_brl(c_s,s7),
inference(resolution,[then_simplify],['4607','4545','4633']) ).
cnf('4635',plain,
m_state_v_brl(c_s,s8),
inference(resolution,[then_simplify],['4601','4545','4634']) ).
cnf('4636',plain,
m_state_v_brl(c_s,s9),
inference(resolution,[then_simplify],['4595','4545','4635']) ).
cnf('4637',plain,
m_state_v_brl(c_s,s10),
inference(resolution,[then_simplify],['4589','4545','4636']) ).
cnf('4638',plain,
m_state_v_brl(c_s,s11),
inference(resolution,[then_simplify],['4583','4545','4637']) ).
cnf('4639',plain,
m_state_v_brl(c_s,s12),
inference(resolution,[then_simplify],['4577','4545','4638']) ).
cnf('4640',plain,
m_state_v_brl(c_s,s13),
inference(resolution,[then_simplify],['4571','4545','4639']) ).
cnf('4641',plain,
m_state_v_brl(c_s,s14),
inference(resolution,[then_simplify],['4565','4545','4640']) ).
cnf('4642',plain,
m_state_v_brl(c_s,s15),
inference(resolution,[then_simplify],['4559','4545','4641']) ).
cnf('4643',plain,
m_state_v_brl(c_s,s16),
inference(resolution,[then_simplify],['4552','4545','4642']) ).
cnf('4644',plain,
m_state_v_brl(c_s,s17),
inference(resolution,[then_simplify],['4544','4545','4643']) ).
cnf('4645',plain,
( ~ node69(X,Y)
| ~ m_state_v_brl(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_149]) ).
cnf('4646',plain,
~ node69(c_s,s17),
inference(resolution,[],['4644','4645']) ).
cnf('4647',plain,
m_state_v_brl(c_s,s15),
inference(resolution,[then_simplify],['4559','4545','4641']) ).
cnf('4648',plain,
~ node69(c_s,s15),
inference(resolution,[],['4647','4645']) ).
cnf('4649',plain,
m_state_v_brl(c_s,s13),
inference(resolution,[then_simplify],['4571','4545','4639']) ).
cnf('4650',plain,
~ node69(c_s,s13),
inference(resolution,[],['4649','4645']) ).
cnf('4651',plain,
m_state_v_brl(c_s,s11),
inference(resolution,[then_simplify],['4583','4545','4637']) ).
cnf('4652',plain,
~ node69(c_s,s11),
inference(resolution,[],['4651','4645']) ).
cnf('4653',plain,
m_state_v_brl(c_s,s9),
inference(resolution,[then_simplify],['4595','4545','4635']) ).
cnf('4654',plain,
~ node69(c_s,s9),
inference(resolution,[],['4653','4645']) ).
cnf('4655',plain,
m_state_v_brl(c_s,s7),
inference(resolution,[then_simplify],['4607','4545','4633']) ).
cnf('4656',plain,
~ node69(c_s,s7),
inference(resolution,[],['4655','4645']) ).
cnf('4657',plain,
m_state_v_brl(c_s,s5),
inference(resolution,[then_simplify],['4619','4545','4631']) ).
cnf('4658',plain,
~ node69(c_s,s5),
inference(resolution,[],['4657','4645']) ).
cnf('4659',plain,
( m_state_v_gvp(X,Y,c_sd)
| ~ node9(X,Y) ),
inference(cnf_transformation,[],[m_Communication_25]) ).
cnf('4660',plain,
~ node9(c_s,s1),
inference(resolution,[],['2229','4659']) ).
cnf('4661',plain,
( node113(X,Y,Z)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_DepositBelt_23]) ).
cnf('4662',plain,
m_DepositBelt_v_s(c_DB,c_s),
inference(cnf_transformation,[],[m_main_3]) ).
cnf('4663',plain,
m_DepositBelt_v_s(c_DB,c_s),
inference(cnf_transformation,[],[m_main_3]) ).
cnf('4664',plain,
( node113(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['4661','4662','4663']) ).
cnf('4665',plain,
node113(c_s,s0,s1),
inference(resolution,[],['4664','7']) ).
cnf('4666',plain,
( ~ node113(X,Y,Z)
| node112(X,Y,Z)
| node111(X,Y)
| node110(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_22]) ).
cnf('4667',plain,
( ~ node111(X,Y)
| ~ m_state_v_pbe(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_17]) ).
cnf('4668',plain,
m_state_v_pbe(X,s0),
inference(cnf_transformation,[],[m_state_113]) ).
cnf('4669',plain,
~ node111(X,s0),
inference(resolution,[],['4667','4668']) ).
cnf('4670',plain,
( ~ node110(X,Y)
| m_state_v_crit(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_14]) ).
cnf('4671',plain,
~ m_state_v_crit(X,s0),
inference(cnf_transformation,[],[m_state_104]) ).
cnf('4672',plain,
~ node110(X3,s0),
inference(resolution,[],['4670','4671']) ).
cnf('4673',plain,
( ~ node113(X,s0,Y)
| node112(X,s0,Y) ),
inference(resolution,[then_simplify],['4666','4669','4672']) ).
cnf('4674',plain,
node112(c_s,s0,s1),
inference(resolution,[],['4665','4673']) ).
cnf('4675',plain,
( ~ node112(X,Y,Z)
| ~ m_state_v_DBM(X,Z,U)
| m_state_v_DBM(X,Y,U) ),
inference(cnf_transformation,[],[m_DepositBelt_19]) ).
cnf('4676',plain,
( ~ m_state_v_DBM(X,Y,c_idle)
| ~ m_state_v_DBM(X,Y,c_run) ),
inference(cnf_transformation,[],[m_state_24]) ).
cnf('4677',plain,
m_state_v_DBM(X,s0,c_idle),
inference(cnf_transformation,[],[m_state_105]) ).
cnf('4678',plain,
~ m_state_v_DBM(X,s0,c_run),
inference(resolution,[],['4676','4677']) ).
cnf('4679',plain,
( ~ node112(X,s0,Y)
| ~ m_state_v_DBM(X,Y,c_run) ),
inference(resolution,[],['4675','4678']) ).
cnf('4680',plain,
~ m_state_v_DBM(c_s,s1,c_run),
inference(resolution,[],['4674','4679']) ).
cnf('4681',plain,
( m_state_v_DBM(X,Y,c_run)
| ~ node10(X,Y) ),
inference(cnf_transformation,[],[m_Communication_26]) ).
cnf('4682',plain,
~ node10(c_s,s1),
inference(resolution,[],['4680','4681']) ).
cnf('4683',plain,
( node12(X,Y,Z)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ m_Communication_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Communication_34]) ).
cnf('4684',plain,
( node12(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['4683','324','325']) ).
cnf('4685',plain,
node12(c_s,s1,s2),
inference(resolution,[],['4684','60']) ).
cnf('4686',plain,
( ~ node12(X,Y,Z)
| node11(X,Y,Z)
| node10(X,Y)
| node9(X,Y) ),
inference(cnf_transformation,[],[m_Communication_33]) ).
cnf('4687',plain,
( node11(c_s,s1,s2)
| node10(c_s,s1)
| node9(c_s,s1) ),
inference(resolution,[],['4685','4686']) ).
cnf('4688',plain,
( node11(c_s,s1,s2)
| node9(c_s,s1) ),
inference(resolution,[],['4682','4687']) ).
cnf('4689',plain,
node11(c_s,s1,s2),
inference(resolution,[],['4660','4688']) ).
cnf('4690',plain,
( ~ node11(X,Y,Z)
| ~ m_state_v_pbe(X,Y)
| m_state_v_pbe(X,Z) ),
inference(cnf_transformation,[],[m_Communication_29]) ).
cnf('4691',plain,
node12(c_s,s0,s1),
inference(resolution,[],['4684','7']) ).
cnf('4692',plain,
( ~ node10(X,Y)
| m_state_v_crit(X,Y) ),
inference(cnf_transformation,[],[m_Communication_27]) ).
cnf('4693',plain,
~ node10(X,s0),
inference(resolution,[],['4692','4671']) ).
cnf('4694',plain,
( m_state_v_CVM(X,Y,c_up)
| ~ node9(X,Y) ),
inference(cnf_transformation,[],[m_Communication_24]) ).
cnf('4695',plain,
~ node9(X3,s0),
inference(resolution,[],['333','4694']) ).
cnf('4696',plain,
( ~ node12(X,s0,Y)
| node11(X,s0,Y) ),
inference(resolution,[then_simplify],['4686','4693','4695']) ).
cnf('4697',plain,
node11(c_s,s0,s1),
inference(resolution,[],['4691','4696']) ).
cnf('4698',plain,
( ~ node11(X,s0,Y)
| m_state_v_pbe(X,Y) ),
inference(resolution,[],['4690','4668']) ).
cnf('4699',plain,
m_state_v_pbe(c_s,s1),
inference(resolution,[],['4697','4698']) ).
cnf('4700',plain,
m_state_v_pbe(c_s,s2),
inference(resolution,[then_simplify],['4689','4690','4699']) ).
cnf('4701',plain,
~ node111(c_s,s2),
inference(resolution,[],['4700','4667']) ).
cnf('4702',plain,
node113(c_s,s2,s3),
inference(resolution,[],['4664','175']) ).
cnf('4703',plain,
( node112(c_s,s2,s3)
| node110(c_s,s2)
| node111(c_s,s2) ),
inference(resolution,[],['4702','4666']) ).
cnf('4704',plain,
( ~ node112(c_s,s1,X)
| ~ m_state_v_DBM(c_s,X,c_run) ),
inference(resolution,[],['4680','4675']) ).
cnf('4705',plain,
node113(c_s,s1,s2),
inference(resolution,[],['4664','60']) ).
cnf('4706',plain,
m_state_v_pbe(c_s,s1),
inference(resolution,[],['4697','4698']) ).
cnf('4707',plain,
~ node111(c_s,s1),
inference(resolution,[],['4706','4667']) ).
cnf('4708',plain,
( node112(c_s,s1,s2)
| node110(c_s,s1) ),
inference(resolution,[then_simplify],['4705','4666','4707']) ).
cnf('4709',plain,
( m_state_v_DBM(X,Y,c_run)
| ~ node110(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_13]) ).
cnf('4710',plain,
~ node110(c_s,s1),
inference(resolution,[],['4680','4709']) ).
cnf('4711',plain,
node112(c_s,s1,s2),
inference(simplify,[],['4708','4710']) ).
cnf('4712',plain,
~ m_state_v_DBM(c_s,s2,c_run),
inference(resolution,[],['4704','4711']) ).
cnf('4713',plain,
~ node110(c_s,s2),
inference(resolution,[],['4712','4709']) ).
cnf('4714',plain,
( node112(c_s,s2,s3)
| node111(c_s,s2) ),
inference(simplify,[],['4703','4713']) ).
cnf('4715',plain,
node112(c_s,s2,s3),
inference(resolution,[],['4701','4714']) ).
cnf('4716',plain,
( ~ node112(c_s,s2,X)
| ~ m_state_v_DBM(c_s,X,c_run) ),
inference(resolution,[],['4712','4675']) ).
cnf('4717',plain,
~ m_state_v_DBM(c_s,s3,c_run),
inference(resolution,[],['4715','4716']) ).
cnf('4718',plain,
( m_state_v_DBM(X,Y,c_run)
| ~ node69(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_148]) ).
cnf('4719',plain,
~ node69(c_s,s3),
inference(resolution,[],['4717','4718']) ).
cnf('4720',plain,
( node72(X,Y,Z)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ m_Sensor_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_Sensor_159]) ).
cnf('4721',plain,
( node72(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['4720','56','57']) ).
cnf('4722',plain,
node72(c_s,s3,s4),
inference(resolution,[],['4721','386']) ).
cnf('4723',plain,
( ~ node72(X,Y,Z)
| node71(X,Y,Z)
| node70(X,Y)
| node69(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_158]) ).
cnf('4724',plain,
( node109(X,Y,Z)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ m_DepositBelt_v_s(U,X)
| ~ trans(Y,Z) ),
inference(cnf_transformation,[],[m_DepositBelt_12]) ).
cnf('4725',plain,
( node109(c_s,X,Y)
| ~ trans(X,Y) ),
inference(resolution,[then_simplify],['4724','4662','4663']) ).
cnf('4726',plain,
node109(c_s,s2,s3),
inference(resolution,[],['4725','175']) ).
cnf('4727',plain,
( ~ node109(X,Y,Z)
| node108(X,Y,Z)
| node107(X,Y)
| node106(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_11]) ).
cnf('4728',plain,
( m_state_v_DBM(X,Y,c_run)
| ~ node107(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_4]) ).
cnf('4729',plain,
~ node107(c_s,s2),
inference(resolution,[],['4712','4728']) ).
cnf('4730',plain,
( m_state_v_DBM(X,Y,c_run)
| ~ node106(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_1]) ).
cnf('4731',plain,
~ node106(c_s,s2),
inference(resolution,[],['4712','4730']) ).
cnf('4732',plain,
node108(c_s,s2,s3),
inference(resolution,[then_simplify],['4726','4727','4729','4731']) ).
cnf('4733',plain,
( ~ node108(X,Y,Z)
| ~ m_state_v_crit(X,Z)
| m_state_v_crit(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_8]) ).
cnf('4734',plain,
( ~ m_state_v_crit(c_s,s3)
| m_state_v_crit(c_s,s2) ),
inference(resolution,[],['4732','4733']) ).
cnf('4735',plain,
node109(c_s,s1,s2),
inference(resolution,[],['4725','60']) ).
cnf('4736',plain,
~ node107(c_s,s1),
inference(resolution,[],['4680','4728']) ).
cnf('4737',plain,
~ node106(c_s,s1),
inference(resolution,[],['4680','4730']) ).
cnf('4738',plain,
node108(c_s,s1,s2),
inference(resolution,[then_simplify],['4735','4727','4736','4737']) ).
cnf('4739',plain,
node109(c_s,s0,s1),
inference(resolution,[],['4725','7']) ).
cnf('4740',plain,
( ~ node107(X,Y)
| m_state_v_crit(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_5]) ).
cnf('4741',plain,
~ node107(X,s0),
inference(resolution,[],['4740','4671']) ).
cnf('4742',plain,
( ~ node106(X,Y)
| m_state_v_pbl(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_3]) ).
cnf('4743',plain,
~ m_state_v_pbl(X,s0),
inference(cnf_transformation,[],[m_state_106]) ).
cnf('4744',plain,
~ node106(X3,s0),
inference(resolution,[],['4742','4743']) ).
cnf('4745',plain,
( ~ node109(X,s0,Y)
| node108(X,s0,Y) ),
inference(resolution,[then_simplify],['4727','4741','4744']) ).
cnf('4746',plain,
node108(c_s,s0,s1),
inference(resolution,[],['4739','4745']) ).
cnf('4747',plain,
( ~ node108(X,s0,Y)
| ~ m_state_v_crit(X,Y) ),
inference(resolution,[],['4733','4671']) ).
cnf('4748',plain,
~ m_state_v_crit(c_s,s1),
inference(resolution,[],['4746','4747']) ).
cnf('4749',plain,
~ m_state_v_crit(c_s,s2),
inference(resolution,[then_simplify],['4738','4733','4748']) ).
cnf('4750',plain,
~ m_state_v_crit(c_s,s3),
inference(simplify,[],['4734','4749']) ).
cnf('4751',plain,
( ~ node70(X,Y)
| m_state_v_crit(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_152]) ).
cnf('4752',plain,
~ node70(c_s,s3),
inference(resolution,[],['4750','4751']) ).
cnf('4753',plain,
( node71(c_s,s3,s4)
| node69(c_s,s3) ),
inference(resolution,[then_simplify],['4722','4723','4752']) ).
cnf('4754',plain,
node71(c_s,s3,s4),
inference(resolution,[],['4719','4753']) ).
cnf('4755',plain,
( ~ node71(X,Y,Z)
| ~ m_state_v_pbl(X,Z)
| m_state_v_pbl(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_155]) ).
cnf('4756',plain,
node72(c_s,s1,s2),
inference(resolution,[],['4721','60']) ).
cnf('4757',plain,
( m_state_v_DBM(X,Y,c_run)
| ~ node70(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_151]) ).
cnf('4758',plain,
~ node70(c_s,s1),
inference(resolution,[],['4680','4757']) ).
cnf('4759',plain,
~ node69(c_s,s1),
inference(resolution,[],['4680','4718']) ).
cnf('4760',plain,
node71(c_s,s1,s2),
inference(resolution,[then_simplify],['4756','4723','4758','4759']) ).
cnf('4761',plain,
node72(c_s,s0,s1),
inference(resolution,[],['4721','7']) ).
cnf('4762',plain,
~ node70(X,s0),
inference(resolution,[],['4751','4671']) ).
cnf('4763',plain,
~ node69(X3,s0),
inference(resolution,[],['4678','4718']) ).
cnf('4764',plain,
( ~ node72(X,s0,Y)
| node71(X,s0,Y) ),
inference(resolution,[then_simplify],['4723','4762','4763']) ).
cnf('4765',plain,
node71(c_s,s0,s1),
inference(resolution,[],['4761','4764']) ).
cnf('4766',plain,
( ~ node71(X,s0,Y)
| ~ m_state_v_pbl(X,Y) ),
inference(resolution,[],['4755','4743']) ).
cnf('4767',plain,
~ m_state_v_pbl(c_s,s1),
inference(resolution,[],['4765','4766']) ).
cnf('4768',plain,
~ m_state_v_pbl(c_s,s2),
inference(resolution,[then_simplify],['4760','4755','4767']) ).
cnf('4769',plain,
( ~ node71(c_s,s2,X)
| ~ m_state_v_pbl(c_s,X) ),
inference(resolution,[],['4768','4755']) ).
cnf('4770',plain,
node72(c_s,s2,s3),
inference(resolution,[],['4721','175']) ).
cnf('4771',plain,
~ node70(c_s,s2),
inference(resolution,[],['4712','4757']) ).
cnf('4772',plain,
~ node69(c_s,s2),
inference(resolution,[],['4712','4718']) ).
cnf('4773',plain,
node71(c_s,s2,s3),
inference(resolution,[then_simplify],['4770','4723','4771','4772']) ).
cnf('4774',plain,
~ m_state_v_pbl(c_s,s3),
inference(resolution,[],['4769','4773']) ).
cnf('4775',plain,
~ m_state_v_pbl(c_s,s4),
inference(resolution,[then_simplify],['4754','4755','4774']) ).
cnf('4776',plain,
~ node106(c_s,s4),
inference(resolution,[],['4775','4742']) ).
cnf('4777',plain,
( ~ m_state_v_pbl(c_s,s3)
| m_state_v_pbl(c_s,s2) ),
inference(resolution,[],['4773','4755']) ).
cnf('4778',plain,
~ m_state_v_pbl(c_s,s2),
inference(resolution,[then_simplify],['4760','4755','4767']) ).
cnf('4779',plain,
~ m_state_v_pbl(c_s,s3),
inference(simplify,[],['4777','4778']) ).
cnf('4780',plain,
~ node106(c_s,s3),
inference(resolution,[],['4779','4742']) ).
cnf('4781',plain,
node109(c_s,s3,s4),
inference(resolution,[],['4725','386']) ).
cnf('4782',plain,
( node108(c_s,s3,s4)
| node106(c_s,s3)
| node107(c_s,s3) ),
inference(resolution,[],['4781','4727']) ).
cnf('4783',plain,
~ node107(c_s,s3),
inference(resolution,[],['4750','4740']) ).
cnf('4784',plain,
( node108(c_s,s3,s4)
| node106(c_s,s3) ),
inference(simplify,[],['4782','4783']) ).
cnf('4785',plain,
node108(c_s,s3,s4),
inference(resolution,[],['4780','4784']) ).
cnf('4786',plain,
~ m_state_v_crit(c_s,s2),
inference(resolution,[then_simplify],['4738','4733','4748']) ).
cnf('4787',plain,
( ~ node108(c_s,s2,X)
| ~ m_state_v_crit(c_s,X) ),
inference(resolution,[],['4786','4733']) ).
cnf('4788',plain,
~ m_state_v_crit(c_s,s3),
inference(resolution,[],['4787','4732']) ).
cnf('4789',plain,
~ m_state_v_crit(c_s,s4),
inference(resolution,[then_simplify],['4785','4733','4788']) ).
cnf('4790',plain,
~ node107(c_s,s4),
inference(resolution,[],['4789','4740']) ).
cnf('4791',plain,
node109(c_s,s4,s5),
inference(resolution,[],['4725','601']) ).
cnf('4792',plain,
( node108(c_s,s4,s5)
| node106(c_s,s4)
| node107(c_s,s4) ),
inference(resolution,[],['4791','4727']) ).
cnf('4793',plain,
( node108(c_s,s4,s5)
| node106(c_s,s4) ),
inference(resolution,[],['4790','4792']) ).
cnf('4794',plain,
node108(c_s,s4,s5),
inference(resolution,[],['4776','4793']) ).
cnf('4795',plain,
~ m_state_v_crit(c_s,s4),
inference(resolution,[then_simplify],['4785','4733','4788']) ).
cnf('4796',plain,
~ m_state_v_crit(c_s,s5),
inference(resolution,[then_simplify],['4794','4733','4795']) ).
cnf('4797',plain,
~ node70(c_s,s5),
inference(resolution,[],['4796','4751']) ).
cnf('4798',plain,
node72(c_s,s5,s6),
inference(resolution,[],['4721','704']) ).
cnf('4799',plain,
( node71(c_s,s5,s6)
| node69(c_s,s5)
| node70(c_s,s5) ),
inference(resolution,[],['4798','4723']) ).
cnf('4800',plain,
( node71(c_s,s5,s6)
| node69(c_s,s5) ),
inference(resolution,[],['4797','4799']) ).
cnf('4801',plain,
node71(c_s,s5,s6),
inference(resolution,[],['4658','4800']) ).
cnf('4802',plain,
m_state_v_brl(c_s,s4),
inference(resolution,[then_simplify],['4625','4545','4630']) ).
cnf('4803',plain,
~ node69(c_s,s4),
inference(resolution,[],['4802','4645']) ).
cnf('4804',plain,
node72(c_s,s4,s5),
inference(resolution,[],['4721','601']) ).
cnf('4805',plain,
( node71(c_s,s4,s5)
| node69(c_s,s4)
| node70(c_s,s4) ),
inference(resolution,[],['4804','4723']) ).
cnf('4806',plain,
~ node70(c_s,s4),
inference(resolution,[],['4789','4751']) ).
cnf('4807',plain,
( node71(c_s,s4,s5)
| node69(c_s,s4) ),
inference(simplify,[],['4805','4806']) ).
cnf('4808',plain,
node71(c_s,s4,s5),
inference(resolution,[],['4803','4807']) ).
cnf('4809',plain,
~ m_state_v_pbl(c_s,s4),
inference(resolution,[then_simplify],['4754','4755','4774']) ).
cnf('4810',plain,
~ m_state_v_pbl(c_s,s5),
inference(resolution,[then_simplify],['4808','4755','4809']) ).
cnf('4811',plain,
~ m_state_v_pbl(c_s,s6),
inference(resolution,[then_simplify],['4801','4755','4810']) ).
cnf('4812',plain,
~ node106(c_s,s6),
inference(resolution,[],['4811','4742']) ).
cnf('4813',plain,
~ m_state_v_pbl(c_s,s5),
inference(resolution,[then_simplify],['4808','4755','4809']) ).
cnf('4814',plain,
~ node106(c_s,s5),
inference(resolution,[],['4813','4742']) ).
cnf('4815',plain,
~ node107(c_s,s5),
inference(resolution,[],['4796','4740']) ).
cnf('4816',plain,
node109(c_s,s5,s6),
inference(resolution,[],['4725','704']) ).
cnf('4817',plain,
( node108(c_s,s5,s6)
| node106(c_s,s5)
| node107(c_s,s5) ),
inference(resolution,[],['4816','4727']) ).
cnf('4818',plain,
( node108(c_s,s5,s6)
| node106(c_s,s5) ),
inference(resolution,[],['4815','4817']) ).
cnf('4819',plain,
node108(c_s,s5,s6),
inference(resolution,[],['4814','4818']) ).
cnf('4820',plain,
~ m_state_v_crit(c_s,s5),
inference(resolution,[then_simplify],['4794','4733','4795']) ).
cnf('4821',plain,
~ m_state_v_crit(c_s,s6),
inference(resolution,[then_simplify],['4819','4733','4820']) ).
cnf('4822',plain,
~ node107(c_s,s6),
inference(resolution,[],['4821','4740']) ).
cnf('4823',plain,
node109(c_s,s6,s7),
inference(resolution,[],['4725','949']) ).
cnf('4824',plain,
( node108(c_s,s6,s7)
| node106(c_s,s6)
| node107(c_s,s6) ),
inference(resolution,[],['4823','4727']) ).
cnf('4825',plain,
( node108(c_s,s6,s7)
| node106(c_s,s6) ),
inference(resolution,[],['4822','4824']) ).
cnf('4826',plain,
node108(c_s,s6,s7),
inference(resolution,[],['4812','4825']) ).
cnf('4827',plain,
~ m_state_v_crit(c_s,s6),
inference(resolution,[then_simplify],['4819','4733','4820']) ).
cnf('4828',plain,
~ m_state_v_crit(c_s,s7),
inference(resolution,[then_simplify],['4826','4733','4827']) ).
cnf('4829',plain,
~ node70(c_s,s7),
inference(resolution,[],['4828','4751']) ).
cnf('4830',plain,
node72(c_s,s7,s8),
inference(resolution,[],['4721','1099']) ).
cnf('4831',plain,
( node71(c_s,s7,s8)
| node69(c_s,s7)
| node70(c_s,s7) ),
inference(resolution,[],['4830','4723']) ).
cnf('4832',plain,
( node71(c_s,s7,s8)
| node69(c_s,s7) ),
inference(resolution,[],['4829','4831']) ).
cnf('4833',plain,
node71(c_s,s7,s8),
inference(resolution,[],['4656','4832']) ).
cnf('4834',plain,
m_state_v_brl(c_s,s6),
inference(resolution,[then_simplify],['4613','4545','4632']) ).
cnf('4835',plain,
~ node69(c_s,s6),
inference(resolution,[],['4834','4645']) ).
cnf('4836',plain,
~ node70(c_s,s6),
inference(resolution,[],['4821','4751']) ).
cnf('4837',plain,
node72(c_s,s6,s7),
inference(resolution,[],['4721','949']) ).
cnf('4838',plain,
( node71(c_s,s6,s7)
| node69(c_s,s6)
| node70(c_s,s6) ),
inference(resolution,[],['4837','4723']) ).
cnf('4839',plain,
( node71(c_s,s6,s7)
| node69(c_s,s6) ),
inference(resolution,[],['4836','4838']) ).
cnf('4840',plain,
node71(c_s,s6,s7),
inference(resolution,[],['4835','4839']) ).
cnf('4841',plain,
~ m_state_v_pbl(c_s,s6),
inference(resolution,[then_simplify],['4801','4755','4810']) ).
cnf('4842',plain,
~ m_state_v_pbl(c_s,s7),
inference(resolution,[then_simplify],['4840','4755','4841']) ).
cnf('4843',plain,
~ m_state_v_pbl(c_s,s8),
inference(resolution,[then_simplify],['4833','4755','4842']) ).
cnf('4844',plain,
~ node106(c_s,s8),
inference(resolution,[],['4843','4742']) ).
cnf('4845',plain,
~ m_state_v_pbl(c_s,s7),
inference(resolution,[then_simplify],['4840','4755','4841']) ).
cnf('4846',plain,
~ node106(c_s,s7),
inference(resolution,[],['4845','4742']) ).
cnf('4847',plain,
~ node107(c_s,s7),
inference(resolution,[],['4828','4740']) ).
cnf('4848',plain,
node109(c_s,s7,s8),
inference(resolution,[],['4725','1099']) ).
cnf('4849',plain,
( node108(c_s,s7,s8)
| node106(c_s,s7)
| node107(c_s,s7) ),
inference(resolution,[],['4848','4727']) ).
cnf('4850',plain,
( node108(c_s,s7,s8)
| node106(c_s,s7) ),
inference(resolution,[],['4847','4849']) ).
cnf('4851',plain,
node108(c_s,s7,s8),
inference(resolution,[],['4846','4850']) ).
cnf('4852',plain,
~ m_state_v_crit(c_s,s7),
inference(resolution,[then_simplify],['4826','4733','4827']) ).
cnf('4853',plain,
~ m_state_v_crit(c_s,s8),
inference(resolution,[then_simplify],['4851','4733','4852']) ).
cnf('4854',plain,
~ node107(c_s,s8),
inference(resolution,[],['4853','4740']) ).
cnf('4855',plain,
node109(c_s,s8,s9),
inference(resolution,[],['4725','1110']) ).
cnf('4856',plain,
( node108(c_s,s8,s9)
| node106(c_s,s8)
| node107(c_s,s8) ),
inference(resolution,[],['4855','4727']) ).
cnf('4857',plain,
( node108(c_s,s8,s9)
| node106(c_s,s8) ),
inference(resolution,[],['4854','4856']) ).
cnf('4858',plain,
node108(c_s,s8,s9),
inference(resolution,[],['4844','4857']) ).
cnf('4859',plain,
~ m_state_v_crit(c_s,s8),
inference(resolution,[then_simplify],['4851','4733','4852']) ).
cnf('4860',plain,
~ m_state_v_crit(c_s,s9),
inference(resolution,[then_simplify],['4858','4733','4859']) ).
cnf('4861',plain,
~ node70(c_s,s9),
inference(resolution,[],['4860','4751']) ).
cnf('4862',plain,
node72(c_s,s9,s10),
inference(resolution,[],['4721','1214']) ).
cnf('4863',plain,
( node71(c_s,s9,s10)
| node69(c_s,s9)
| node70(c_s,s9) ),
inference(resolution,[],['4862','4723']) ).
cnf('4864',plain,
( node71(c_s,s9,s10)
| node69(c_s,s9) ),
inference(resolution,[],['4861','4863']) ).
cnf('4865',plain,
node71(c_s,s9,s10),
inference(resolution,[],['4654','4864']) ).
cnf('4866',plain,
m_state_v_brl(c_s,s8),
inference(resolution,[then_simplify],['4601','4545','4634']) ).
cnf('4867',plain,
~ node69(c_s,s8),
inference(resolution,[],['4866','4645']) ).
cnf('4868',plain,
~ node70(c_s,s8),
inference(resolution,[],['4853','4751']) ).
cnf('4869',plain,
node72(c_s,s8,s9),
inference(resolution,[],['4721','1110']) ).
cnf('4870',plain,
( node71(c_s,s8,s9)
| node69(c_s,s8)
| node70(c_s,s8) ),
inference(resolution,[],['4869','4723']) ).
cnf('4871',plain,
( node71(c_s,s8,s9)
| node69(c_s,s8) ),
inference(resolution,[],['4868','4870']) ).
cnf('4872',plain,
node71(c_s,s8,s9),
inference(resolution,[],['4867','4871']) ).
cnf('4873',plain,
~ m_state_v_pbl(c_s,s8),
inference(resolution,[then_simplify],['4833','4755','4842']) ).
cnf('4874',plain,
~ m_state_v_pbl(c_s,s9),
inference(resolution,[then_simplify],['4872','4755','4873']) ).
cnf('4875',plain,
~ m_state_v_pbl(c_s,s10),
inference(resolution,[then_simplify],['4865','4755','4874']) ).
cnf('4876',plain,
~ node106(c_s,s10),
inference(resolution,[],['4875','4742']) ).
cnf('4877',plain,
~ m_state_v_pbl(c_s,s9),
inference(resolution,[then_simplify],['4872','4755','4873']) ).
cnf('4878',plain,
~ node106(c_s,s9),
inference(resolution,[],['4877','4742']) ).
cnf('4879',plain,
~ node107(c_s,s9),
inference(resolution,[],['4860','4740']) ).
cnf('4880',plain,
node109(c_s,s9,s10),
inference(resolution,[],['4725','1214']) ).
cnf('4881',plain,
( node108(c_s,s9,s10)
| node106(c_s,s9)
| node107(c_s,s9) ),
inference(resolution,[],['4880','4727']) ).
cnf('4882',plain,
( node108(c_s,s9,s10)
| node106(c_s,s9) ),
inference(resolution,[],['4879','4881']) ).
cnf('4883',plain,
node108(c_s,s9,s10),
inference(resolution,[],['4878','4882']) ).
cnf('4884',plain,
~ m_state_v_crit(c_s,s9),
inference(resolution,[then_simplify],['4858','4733','4859']) ).
cnf('4885',plain,
~ m_state_v_crit(c_s,s10),
inference(resolution,[then_simplify],['4883','4733','4884']) ).
cnf('4886',plain,
~ node107(c_s,s10),
inference(resolution,[],['4885','4740']) ).
cnf('4887',plain,
node109(c_s,s10,s11),
inference(resolution,[],['4725','1610']) ).
cnf('4888',plain,
( node108(c_s,s10,s11)
| node106(c_s,s10)
| node107(c_s,s10) ),
inference(resolution,[],['4887','4727']) ).
cnf('4889',plain,
( node108(c_s,s10,s11)
| node106(c_s,s10) ),
inference(resolution,[],['4886','4888']) ).
cnf('4890',plain,
node108(c_s,s10,s11),
inference(resolution,[],['4876','4889']) ).
cnf('4891',plain,
~ m_state_v_crit(c_s,s10),
inference(resolution,[then_simplify],['4883','4733','4884']) ).
cnf('4892',plain,
~ m_state_v_crit(c_s,s11),
inference(resolution,[then_simplify],['4890','4733','4891']) ).
cnf('4893',plain,
~ node70(c_s,s11),
inference(resolution,[],['4892','4751']) ).
cnf('4894',plain,
node72(c_s,s11,s12),
inference(resolution,[],['4721','1940']) ).
cnf('4895',plain,
( node71(c_s,s11,s12)
| node69(c_s,s11)
| node70(c_s,s11) ),
inference(resolution,[],['4894','4723']) ).
cnf('4896',plain,
( node71(c_s,s11,s12)
| node69(c_s,s11) ),
inference(resolution,[],['4893','4895']) ).
cnf('4897',plain,
node71(c_s,s11,s12),
inference(resolution,[],['4652','4896']) ).
cnf('4898',plain,
m_state_v_brl(c_s,s10),
inference(resolution,[then_simplify],['4589','4545','4636']) ).
cnf('4899',plain,
~ node69(c_s,s10),
inference(resolution,[],['4898','4645']) ).
cnf('4900',plain,
~ node70(c_s,s10),
inference(resolution,[],['4885','4751']) ).
cnf('4901',plain,
node72(c_s,s10,s11),
inference(resolution,[],['4721','1610']) ).
cnf('4902',plain,
( node71(c_s,s10,s11)
| node69(c_s,s10)
| node70(c_s,s10) ),
inference(resolution,[],['4901','4723']) ).
cnf('4903',plain,
( node71(c_s,s10,s11)
| node69(c_s,s10) ),
inference(resolution,[],['4900','4902']) ).
cnf('4904',plain,
node71(c_s,s10,s11),
inference(resolution,[],['4899','4903']) ).
cnf('4905',plain,
~ m_state_v_pbl(c_s,s10),
inference(resolution,[then_simplify],['4865','4755','4874']) ).
cnf('4906',plain,
~ m_state_v_pbl(c_s,s11),
inference(resolution,[then_simplify],['4904','4755','4905']) ).
cnf('4907',plain,
~ m_state_v_pbl(c_s,s12),
inference(resolution,[then_simplify],['4897','4755','4906']) ).
cnf('4908',plain,
~ node106(c_s,s12),
inference(resolution,[],['4907','4742']) ).
cnf('4909',plain,
~ m_state_v_pbl(c_s,s11),
inference(resolution,[then_simplify],['4904','4755','4905']) ).
cnf('4910',plain,
~ node106(c_s,s11),
inference(resolution,[],['4909','4742']) ).
cnf('4911',plain,
~ node107(c_s,s11),
inference(resolution,[],['4892','4740']) ).
cnf('4912',plain,
node109(c_s,s11,s12),
inference(resolution,[],['4725','1940']) ).
cnf('4913',plain,
( node108(c_s,s11,s12)
| node106(c_s,s11)
| node107(c_s,s11) ),
inference(resolution,[],['4912','4727']) ).
cnf('4914',plain,
( node108(c_s,s11,s12)
| node106(c_s,s11) ),
inference(resolution,[],['4911','4913']) ).
cnf('4915',plain,
node108(c_s,s11,s12),
inference(resolution,[],['4910','4914']) ).
cnf('4916',plain,
~ m_state_v_crit(c_s,s11),
inference(resolution,[then_simplify],['4890','4733','4891']) ).
cnf('4917',plain,
~ m_state_v_crit(c_s,s12),
inference(resolution,[then_simplify],['4915','4733','4916']) ).
cnf('4918',plain,
~ node107(c_s,s12),
inference(resolution,[],['4917','4740']) ).
cnf('4919',plain,
node109(c_s,s12,s13),
inference(resolution,[],['4725','2036']) ).
cnf('4920',plain,
( node108(c_s,s12,s13)
| node106(c_s,s12)
| node107(c_s,s12) ),
inference(resolution,[],['4919','4727']) ).
cnf('4921',plain,
( node108(c_s,s12,s13)
| node106(c_s,s12) ),
inference(resolution,[],['4918','4920']) ).
cnf('4922',plain,
node108(c_s,s12,s13),
inference(resolution,[],['4908','4921']) ).
cnf('4923',plain,
~ m_state_v_crit(c_s,s12),
inference(resolution,[then_simplify],['4915','4733','4916']) ).
cnf('4924',plain,
~ m_state_v_crit(c_s,s13),
inference(resolution,[then_simplify],['4922','4733','4923']) ).
cnf('4925',plain,
~ node70(c_s,s13),
inference(resolution,[],['4924','4751']) ).
cnf('4926',plain,
node72(c_s,s13,s14),
inference(resolution,[],['4721','2062']) ).
cnf('4927',plain,
( node71(c_s,s13,s14)
| node69(c_s,s13)
| node70(c_s,s13) ),
inference(resolution,[],['4926','4723']) ).
cnf('4928',plain,
( node71(c_s,s13,s14)
| node69(c_s,s13) ),
inference(resolution,[],['4925','4927']) ).
cnf('4929',plain,
node71(c_s,s13,s14),
inference(resolution,[],['4650','4928']) ).
cnf('4930',plain,
m_state_v_brl(c_s,s12),
inference(resolution,[then_simplify],['4577','4545','4638']) ).
cnf('4931',plain,
~ node69(c_s,s12),
inference(resolution,[],['4930','4645']) ).
cnf('4932',plain,
~ node70(c_s,s12),
inference(resolution,[],['4917','4751']) ).
cnf('4933',plain,
node72(c_s,s12,s13),
inference(resolution,[],['4721','2036']) ).
cnf('4934',plain,
( node71(c_s,s12,s13)
| node69(c_s,s12)
| node70(c_s,s12) ),
inference(resolution,[],['4933','4723']) ).
cnf('4935',plain,
( node71(c_s,s12,s13)
| node69(c_s,s12) ),
inference(resolution,[],['4932','4934']) ).
cnf('4936',plain,
node71(c_s,s12,s13),
inference(resolution,[],['4931','4935']) ).
cnf('4937',plain,
~ m_state_v_pbl(c_s,s12),
inference(resolution,[then_simplify],['4897','4755','4906']) ).
cnf('4938',plain,
~ m_state_v_pbl(c_s,s13),
inference(resolution,[then_simplify],['4936','4755','4937']) ).
cnf('4939',plain,
~ m_state_v_pbl(c_s,s14),
inference(resolution,[then_simplify],['4929','4755','4938']) ).
cnf('4940',plain,
~ node106(c_s,s14),
inference(resolution,[],['4939','4742']) ).
cnf('4941',plain,
~ m_state_v_pbl(c_s,s13),
inference(resolution,[then_simplify],['4936','4755','4937']) ).
cnf('4942',plain,
~ node106(c_s,s13),
inference(resolution,[],['4941','4742']) ).
cnf('4943',plain,
~ node107(c_s,s13),
inference(resolution,[],['4924','4740']) ).
cnf('4944',plain,
node109(c_s,s13,s14),
inference(resolution,[],['4725','2062']) ).
cnf('4945',plain,
( node108(c_s,s13,s14)
| node106(c_s,s13)
| node107(c_s,s13) ),
inference(resolution,[],['4944','4727']) ).
cnf('4946',plain,
( node108(c_s,s13,s14)
| node106(c_s,s13) ),
inference(resolution,[],['4943','4945']) ).
cnf('4947',plain,
node108(c_s,s13,s14),
inference(resolution,[],['4942','4946']) ).
cnf('4948',plain,
~ m_state_v_crit(c_s,s13),
inference(resolution,[then_simplify],['4922','4733','4923']) ).
cnf('4949',plain,
~ m_state_v_crit(c_s,s14),
inference(resolution,[then_simplify],['4947','4733','4948']) ).
cnf('4950',plain,
~ node107(c_s,s14),
inference(resolution,[],['4949','4740']) ).
cnf('4951',plain,
node109(c_s,s14,s15),
inference(resolution,[],['4725','2121']) ).
cnf('4952',plain,
( node108(c_s,s14,s15)
| node106(c_s,s14)
| node107(c_s,s14) ),
inference(resolution,[],['4951','4727']) ).
cnf('4953',plain,
( node108(c_s,s14,s15)
| node106(c_s,s14) ),
inference(resolution,[],['4950','4952']) ).
cnf('4954',plain,
node108(c_s,s14,s15),
inference(resolution,[],['4940','4953']) ).
cnf('4955',plain,
~ m_state_v_crit(c_s,s14),
inference(resolution,[then_simplify],['4947','4733','4948']) ).
cnf('4956',plain,
~ m_state_v_crit(c_s,s15),
inference(resolution,[then_simplify],['4954','4733','4955']) ).
cnf('4957',plain,
~ node70(c_s,s15),
inference(resolution,[],['4956','4751']) ).
cnf('4958',plain,
node72(c_s,s15,s16),
inference(resolution,[],['4721','2150']) ).
cnf('4959',plain,
( node71(c_s,s15,s16)
| node69(c_s,s15)
| node70(c_s,s15) ),
inference(resolution,[],['4958','4723']) ).
cnf('4960',plain,
( node71(c_s,s15,s16)
| node69(c_s,s15) ),
inference(resolution,[],['4957','4959']) ).
cnf('4961',plain,
node71(c_s,s15,s16),
inference(resolution,[],['4648','4960']) ).
cnf('4962',plain,
m_state_v_brl(c_s,s14),
inference(resolution,[then_simplify],['4565','4545','4640']) ).
cnf('4963',plain,
~ node69(c_s,s14),
inference(resolution,[],['4962','4645']) ).
cnf('4964',plain,
~ node70(c_s,s14),
inference(resolution,[],['4949','4751']) ).
cnf('4965',plain,
node72(c_s,s14,s15),
inference(resolution,[],['4721','2121']) ).
cnf('4966',plain,
( node71(c_s,s14,s15)
| node69(c_s,s14)
| node70(c_s,s14) ),
inference(resolution,[],['4965','4723']) ).
cnf('4967',plain,
( node71(c_s,s14,s15)
| node69(c_s,s14) ),
inference(resolution,[],['4964','4966']) ).
cnf('4968',plain,
node71(c_s,s14,s15),
inference(resolution,[],['4963','4967']) ).
cnf('4969',plain,
~ m_state_v_pbl(c_s,s14),
inference(resolution,[then_simplify],['4929','4755','4938']) ).
cnf('4970',plain,
~ m_state_v_pbl(c_s,s15),
inference(resolution,[then_simplify],['4968','4755','4969']) ).
cnf('4971',plain,
~ m_state_v_pbl(c_s,s16),
inference(resolution,[then_simplify],['4961','4755','4970']) ).
cnf('4972',plain,
~ node106(c_s,s16),
inference(resolution,[],['4971','4742']) ).
cnf('4973',plain,
~ m_state_v_pbl(c_s,s15),
inference(resolution,[then_simplify],['4968','4755','4969']) ).
cnf('4974',plain,
~ node106(c_s,s15),
inference(resolution,[],['4973','4742']) ).
cnf('4975',plain,
~ node107(c_s,s15),
inference(resolution,[],['4956','4740']) ).
cnf('4976',plain,
node109(c_s,s15,s16),
inference(resolution,[],['4725','2150']) ).
cnf('4977',plain,
( node108(c_s,s15,s16)
| node106(c_s,s15)
| node107(c_s,s15) ),
inference(resolution,[],['4976','4727']) ).
cnf('4978',plain,
( node108(c_s,s15,s16)
| node106(c_s,s15) ),
inference(resolution,[],['4975','4977']) ).
cnf('4979',plain,
node108(c_s,s15,s16),
inference(resolution,[],['4974','4978']) ).
cnf('4980',plain,
~ m_state_v_crit(c_s,s15),
inference(resolution,[then_simplify],['4954','4733','4955']) ).
cnf('4981',plain,
~ m_state_v_crit(c_s,s16),
inference(resolution,[then_simplify],['4979','4733','4980']) ).
cnf('4982',plain,
~ node107(c_s,s16),
inference(resolution,[],['4981','4740']) ).
cnf('4983',plain,
node109(c_s,s16,s17),
inference(resolution,[],['4725','3274']) ).
cnf('4984',plain,
( node108(c_s,s16,s17)
| node106(c_s,s16)
| node107(c_s,s16) ),
inference(resolution,[],['4983','4727']) ).
cnf('4985',plain,
( node108(c_s,s16,s17)
| node106(c_s,s16) ),
inference(resolution,[],['4982','4984']) ).
cnf('4986',plain,
node108(c_s,s16,s17),
inference(resolution,[],['4972','4985']) ).
cnf('4987',plain,
~ m_state_v_crit(c_s,s16),
inference(resolution,[then_simplify],['4979','4733','4980']) ).
cnf('4988',plain,
~ m_state_v_crit(c_s,s17),
inference(resolution,[then_simplify],['4986','4733','4987']) ).
cnf('4989',plain,
~ node70(c_s,s17),
inference(resolution,[],['4988','4751']) ).
cnf('4990',plain,
node72(c_s,s17,s18),
inference(resolution,[],['4721','3399']) ).
cnf('4991',plain,
( node71(c_s,s17,s18)
| node69(c_s,s17)
| node70(c_s,s17) ),
inference(resolution,[],['4990','4723']) ).
cnf('4992',plain,
( node71(c_s,s17,s18)
| node69(c_s,s17) ),
inference(resolution,[],['4989','4991']) ).
cnf('4993',plain,
node71(c_s,s17,s18),
inference(resolution,[],['4646','4992']) ).
cnf('4994',plain,
m_state_v_brl(c_s,s16),
inference(resolution,[then_simplify],['4552','4545','4642']) ).
cnf('4995',plain,
~ node69(c_s,s16),
inference(resolution,[],['4994','4645']) ).
cnf('4996',plain,
~ node70(c_s,s16),
inference(resolution,[],['4981','4751']) ).
cnf('4997',plain,
node72(c_s,s16,s17),
inference(resolution,[],['4721','3274']) ).
cnf('4998',plain,
( node71(c_s,s16,s17)
| node69(c_s,s16)
| node70(c_s,s16) ),
inference(resolution,[],['4997','4723']) ).
cnf('4999',plain,
( node71(c_s,s16,s17)
| node69(c_s,s16) ),
inference(resolution,[],['4996','4998']) ).
cnf('5000',plain,
node71(c_s,s16,s17),
inference(resolution,[],['4995','4999']) ).
cnf('5001',plain,
~ m_state_v_pbl(c_s,s16),
inference(resolution,[then_simplify],['4961','4755','4970']) ).
cnf('5002',plain,
~ m_state_v_pbl(c_s,s17),
inference(resolution,[then_simplify],['5000','4755','5001']) ).
cnf('5003',plain,
~ m_state_v_pbl(c_s,s18),
inference(resolution,[then_simplify],['4993','4755','5002']) ).
cnf('5004',plain,
~ node106(c_s,s18),
inference(resolution,[],['5003','4742']) ).
cnf('5005',plain,
node109(c_s,s18,s19),
inference(resolution,[],['4725','3452']) ).
cnf('5006',plain,
( node108(c_s,s18,s19)
| node106(c_s,s18)
| node107(c_s,s18) ),
inference(resolution,[],['5005','4727']) ).
cnf('5007',plain,
~ m_state_v_pbl(c_s,s17),
inference(resolution,[then_simplify],['5000','4755','5001']) ).
cnf('5008',plain,
~ node106(c_s,s17),
inference(resolution,[],['5007','4742']) ).
cnf('5009',plain,
~ node107(c_s,s17),
inference(resolution,[],['4988','4740']) ).
cnf('5010',plain,
node109(c_s,s17,s18),
inference(resolution,[],['4725','3399']) ).
cnf('5011',plain,
( node108(c_s,s17,s18)
| node106(c_s,s17)
| node107(c_s,s17) ),
inference(resolution,[],['5010','4727']) ).
cnf('5012',plain,
( node108(c_s,s17,s18)
| node106(c_s,s17) ),
inference(resolution,[],['5009','5011']) ).
cnf('5013',plain,
node108(c_s,s17,s18),
inference(resolution,[],['5008','5012']) ).
cnf('5014',plain,
~ m_state_v_crit(c_s,s17),
inference(resolution,[then_simplify],['4986','4733','4987']) ).
cnf('5015',plain,
~ m_state_v_crit(c_s,s18),
inference(resolution,[then_simplify],['5013','4733','5014']) ).
cnf('5016',plain,
~ node107(c_s,s18),
inference(resolution,[],['5015','4740']) ).
cnf('5017',plain,
node108(c_s,s18,s19),
inference(resolution,[then_simplify],['5004','5006','5016']) ).
cnf('5018',plain,
~ m_state_v_crit(c_s,s18),
inference(resolution,[then_simplify],['5013','4733','5014']) ).
cnf('5019',plain,
~ m_state_v_crit(c_s,s19),
inference(resolution,[then_simplify],['5017','4733','5018']) ).
cnf('5020',plain,
( m_state_v_crit(c_s,X)
| ~ node211(X) ),
inference(cnf_transformation,[],[prpty85]) ).
cnf('5021',plain,
~ node211(s19),
inference(resolution,[],['5019','5020']) ).
cnf('5022',plain,
~ node225(s19),
inference(resolution,[then_simplify],['3679','3680','5021']) ).
cnf('5023',plain,
( ~ until226(X)
| xuntil227(X)
| node225(X) ),
inference(cnf_transformation,[],[prpty120]) ).
cnf('5024',plain,
( $pr(loop)
| ~ xuntil227(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty122]) ).
cnf('5025',plain,
( ~ xuntil227(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5024']) ).
cnf('5026',plain,
~ xuntil227(s19),
inference(resolution,[],['3662','5025']) ).
cnf('5027',plain,
~ until226(s19),
inference(resolution,[then_simplify],['5022','5023','5026']) ).
cnf('5028',plain,
( ~ node230(X)
| until226(X)
| node209(X) ),
inference(cnf_transformation,[],[prpty127]) ).
cnf('5029',plain,
( $pr(loop)
| ~ always208(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty77]) ).
cnf('5030',plain,
( ~ always208(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5029']) ).
cnf('5031',plain,
~ always208(s19),
inference(resolution,[],['3662','5030']) ).
cnf('5032',plain,
( ~ node209(X)
| always208(X) ),
inference(cnf_transformation,[],[prpty80]) ).
cnf('5033',plain,
~ node209(s19),
inference(resolution,[],['5031','5032']) ).
cnf('5034',plain,
~ node230(s19),
inference(resolution,[then_simplify],['5027','5028','5033']) ).
cnf('5035',plain,
( ~ until231(X)
| xuntil232(X)
| node230(X) ),
inference(cnf_transformation,[],[prpty128]) ).
cnf('5036',plain,
( $pr(loop)
| ~ xuntil232(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty130]) ).
cnf('5037',plain,
( ~ xuntil232(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5036']) ).
cnf('5038',plain,
~ xuntil232(s19),
inference(resolution,[],['3662','5037']) ).
cnf('5039',plain,
~ until231(s19),
inference(resolution,[then_simplify],['5034','5035','5038']) ).
cnf('5040',plain,
( ~ node235(X)
| until231(X)
| node207(X) ),
inference(cnf_transformation,[],[prpty135]) ).
cnf('5041',plain,
( ~ m_state_v_DBM(c_s,X,c_run)
| m_state_v_crit(c_s,X)
| ~ always206(X) ),
inference(cnf_transformation,[],[prpty68]) ).
cnf('5042',plain,
~ node110(c_s,s18),
inference(resolution,[],['5015','4670']) ).
cnf('5043',plain,
~ node110(c_s,s13),
inference(resolution,[],['4924','4670']) ).
cnf('5044',plain,
~ node110(c_s,s12),
inference(resolution,[],['4917','4670']) ).
cnf('5045',plain,
~ node110(c_s,s9),
inference(resolution,[],['4860','4670']) ).
cnf('5046',plain,
~ node110(c_s,s7),
inference(resolution,[],['4828','4670']) ).
cnf('5047',plain,
~ node110(c_s,s6),
inference(resolution,[],['4821','4670']) ).
cnf('5048',plain,
node12(c_s,s2,s3),
inference(resolution,[],['4684','175']) ).
cnf('5049',plain,
( ~ node12(X,Y,Z)
| ~ m_state_v_gvp(X,Y,c_sd)
| ~ m_state_v_CVM(X,Y,c_up)
| ~ m_state_v_pbe(X,Z) ),
inference(cnf_transformation,[],[m_Communication_31]) ).
cnf('5050',plain,
( ~ m_state_v_gvp(c_s,s2,c_sd)
| ~ m_state_v_CVM(c_s,s2,c_up)
| ~ m_state_v_pbe(c_s,s3) ),
inference(resolution,[],['5048','5049']) ).
cnf('5051',plain,
( ~ m_state_v_CVM(c_s,s2,c_up)
| ~ m_state_v_pbe(c_s,s3) ),
inference(resolution,[],['2214','5050']) ).
cnf('5052',plain,
~ m_state_v_pbe(c_s,s3),
inference(resolution,[],['2414','5051']) ).
cnf('5053',plain,
( m_state_v_DBM(X,Y,c_idle)
| m_state_v_DBM(X,Y,c_run) ),
inference(cnf_transformation,[],[m_state_23]) ).
cnf('5054',plain,
m_state_v_DBM(c_s,s2,c_idle),
inference(resolution,[],['4712','5053']) ).
cnf('5055',plain,
( ~ node112(X,Y,Z)
| ~ m_state_v_DBM(X,Y,U)
| m_state_v_DBM(X,Z,U) ),
inference(cnf_transformation,[],[m_DepositBelt_18]) ).
cnf('5056',plain,
( ~ node112(c_s,s2,X)
| m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5054','5055']) ).
cnf('5057',plain,
m_state_v_DBM(c_s,s3,c_idle),
inference(resolution,[],['4715','5056']) ).
cnf('5058',plain,
~ node110(c_s,s3),
inference(resolution,[],['4750','4670']) ).
cnf('5059',plain,
node113(c_s,s3,s4),
inference(resolution,[],['4664','386']) ).
cnf('5060',plain,
( ~ node113(X,Y,Z)
| ~ m_state_v_DBM(X,Y,c_idle)
| m_state_v_DBM(X,Z,c_run)
| node110(X,Y)
| m_state_v_pbe(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_21]) ).
cnf('5061',plain,
( ~ m_state_v_DBM(c_s,s3,c_idle)
| m_state_v_DBM(c_s,s4,c_run)
| m_state_v_pbe(c_s,s3)
| node110(c_s,s3) ),
inference(resolution,[],['5059','5060']) ).
cnf('5062',plain,
( ~ m_state_v_DBM(c_s,s3,c_idle)
| m_state_v_DBM(c_s,s4,c_run)
| m_state_v_pbe(c_s,s3) ),
inference(resolution,[],['5058','5061']) ).
cnf('5063',plain,
( m_state_v_DBM(c_s,s4,c_run)
| m_state_v_pbe(c_s,s3) ),
inference(resolution,[],['5057','5062']) ).
cnf('5064',plain,
m_state_v_DBM(c_s,s4,c_run),
inference(resolution,[],['5052','5063']) ).
cnf('5065',plain,
( ~ node112(c_s,s4,X)
| m_state_v_DBM(c_s,X,c_run) ),
inference(resolution,[],['5064','5055']) ).
cnf('5066',plain,
~ m_state_v_DBM(c_s,s4,c_idle),
inference(resolution,[],['5064','4676']) ).
cnf('5067',plain,
( m_state_v_DBM(X,Y,c_idle)
| ~ node111(X,Y) ),
inference(cnf_transformation,[],[m_DepositBelt_16]) ).
cnf('5068',plain,
~ node111(c_s,s4),
inference(resolution,[],['5066','5067']) ).
cnf('5069',plain,
~ node110(c_s,s4),
inference(resolution,[],['4789','4670']) ).
cnf('5070',plain,
node113(c_s,s4,s5),
inference(resolution,[],['4664','601']) ).
cnf('5071',plain,
( node112(c_s,s4,s5)
| node110(c_s,s4)
| node111(c_s,s4) ),
inference(resolution,[],['5070','4666']) ).
cnf('5072',plain,
( node112(c_s,s4,s5)
| node111(c_s,s4) ),
inference(resolution,[],['5069','5071']) ).
cnf('5073',plain,
node112(c_s,s4,s5),
inference(resolution,[],['5068','5072']) ).
cnf('5074',plain,
m_state_v_DBM(c_s,s5,c_run),
inference(resolution,[],['5065','5073']) ).
cnf('5075',plain,
( ~ node112(c_s,s5,X)
| m_state_v_DBM(c_s,X,c_run) ),
inference(resolution,[],['5074','5055']) ).
cnf('5076',plain,
~ m_state_v_DBM(c_s,s5,c_idle),
inference(resolution,[],['5074','4676']) ).
cnf('5077',plain,
~ node111(c_s,s5),
inference(resolution,[],['5076','5067']) ).
cnf('5078',plain,
~ node110(c_s,s5),
inference(resolution,[],['4796','4670']) ).
cnf('5079',plain,
node113(c_s,s5,s6),
inference(resolution,[],['4664','704']) ).
cnf('5080',plain,
( node112(c_s,s5,s6)
| node110(c_s,s5)
| node111(c_s,s5) ),
inference(resolution,[],['5079','4666']) ).
cnf('5081',plain,
( node112(c_s,s5,s6)
| node111(c_s,s5) ),
inference(resolution,[],['5078','5080']) ).
cnf('5082',plain,
node112(c_s,s5,s6),
inference(resolution,[],['5077','5081']) ).
cnf('5083',plain,
m_state_v_DBM(c_s,s6,c_run),
inference(resolution,[],['5075','5082']) ).
cnf('5084',plain,
~ m_state_v_DBM(c_s,s6,c_idle),
inference(resolution,[],['5083','4676']) ).
cnf('5085',plain,
~ node111(c_s,s6),
inference(resolution,[],['5084','5067']) ).
cnf('5086',plain,
node113(c_s,s6,s7),
inference(resolution,[],['4664','949']) ).
cnf('5087',plain,
( node112(c_s,s6,s7)
| node110(c_s,s6)
| node111(c_s,s6) ),
inference(resolution,[],['5086','4666']) ).
cnf('5088',plain,
( node112(c_s,s6,s7)
| node110(c_s,s6) ),
inference(resolution,[],['5085','5087']) ).
cnf('5089',plain,
node112(c_s,s6,s7),
inference(resolution,[],['5047','5088']) ).
cnf('5090',plain,
( ~ node112(c_s,s6,X)
| ~ m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5084','4675']) ).
cnf('5091',plain,
~ m_state_v_DBM(c_s,s7,c_idle),
inference(resolution,[],['5089','5090']) ).
cnf('5092',plain,
~ node111(c_s,s7),
inference(resolution,[],['5091','5067']) ).
cnf('5093',plain,
node113(c_s,s7,s8),
inference(resolution,[],['4664','1099']) ).
cnf('5094',plain,
( node112(c_s,s7,s8)
| node110(c_s,s7)
| node111(c_s,s7) ),
inference(resolution,[],['5093','4666']) ).
cnf('5095',plain,
( node112(c_s,s7,s8)
| node110(c_s,s7) ),
inference(resolution,[],['5092','5094']) ).
cnf('5096',plain,
node112(c_s,s7,s8),
inference(resolution,[],['5046','5095']) ).
cnf('5097',plain,
( ~ node112(c_s,s6,X)
| m_state_v_DBM(c_s,X,c_run) ),
inference(resolution,[],['5083','5055']) ).
cnf('5098',plain,
m_state_v_DBM(c_s,s7,c_run),
inference(resolution,[],['5089','5097']) ).
cnf('5099',plain,
( ~ node112(c_s,s7,X)
| m_state_v_DBM(c_s,X,c_run) ),
inference(resolution,[],['5098','5055']) ).
cnf('5100',plain,
m_state_v_DBM(c_s,s8,c_run),
inference(resolution,[],['5096','5099']) ).
cnf('5101',plain,
( ~ node112(c_s,s8,X)
| m_state_v_DBM(c_s,X,c_run) ),
inference(resolution,[],['5100','5055']) ).
cnf('5102',plain,
~ node110(c_s,s8),
inference(resolution,[],['4853','4670']) ).
cnf('5103',plain,
( ~ node112(c_s,s7,X)
| ~ m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5091','4675']) ).
cnf('5104',plain,
~ m_state_v_DBM(c_s,s8,c_idle),
inference(resolution,[],['5096','5103']) ).
cnf('5105',plain,
~ node111(c_s,s8),
inference(resolution,[],['5104','5067']) ).
cnf('5106',plain,
node113(c_s,s8,s9),
inference(resolution,[],['4664','1110']) ).
cnf('5107',plain,
( node112(c_s,s8,s9)
| node110(c_s,s8)
| node111(c_s,s8) ),
inference(resolution,[],['5106','4666']) ).
cnf('5108',plain,
( node112(c_s,s8,s9)
| node110(c_s,s8) ),
inference(resolution,[],['5105','5107']) ).
cnf('5109',plain,
node112(c_s,s8,s9),
inference(resolution,[],['5102','5108']) ).
cnf('5110',plain,
m_state_v_DBM(c_s,s9,c_run),
inference(resolution,[],['5101','5109']) ).
cnf('5111',plain,
~ m_state_v_DBM(c_s,s9,c_idle),
inference(resolution,[],['5110','4676']) ).
cnf('5112',plain,
~ node111(c_s,s9),
inference(resolution,[],['5111','5067']) ).
cnf('5113',plain,
node113(c_s,s9,s10),
inference(resolution,[],['4664','1214']) ).
cnf('5114',plain,
( node112(c_s,s9,s10)
| node110(c_s,s9)
| node111(c_s,s9) ),
inference(resolution,[],['5113','4666']) ).
cnf('5115',plain,
( node112(c_s,s9,s10)
| node110(c_s,s9) ),
inference(resolution,[],['5112','5114']) ).
cnf('5116',plain,
node112(c_s,s9,s10),
inference(resolution,[],['5045','5115']) ).
cnf('5117',plain,
( ~ node112(c_s,s9,X)
| ~ m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5111','4675']) ).
cnf('5118',plain,
~ m_state_v_DBM(c_s,s10,c_idle),
inference(resolution,[],['5116','5117']) ).
cnf('5119',plain,
( ~ node112(c_s,s10,X)
| ~ m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5118','4675']) ).
cnf('5120',plain,
~ node110(c_s,s10),
inference(resolution,[],['4885','4670']) ).
cnf('5121',plain,
~ node111(c_s,s10),
inference(resolution,[],['5118','5067']) ).
cnf('5122',plain,
node113(c_s,s10,s11),
inference(resolution,[],['4664','1610']) ).
cnf('5123',plain,
( node112(c_s,s10,s11)
| node110(c_s,s10)
| node111(c_s,s10) ),
inference(resolution,[],['5122','4666']) ).
cnf('5124',plain,
( node112(c_s,s10,s11)
| node110(c_s,s10) ),
inference(resolution,[],['5121','5123']) ).
cnf('5125',plain,
node112(c_s,s10,s11),
inference(resolution,[],['5120','5124']) ).
cnf('5126',plain,
~ m_state_v_DBM(c_s,s11,c_idle),
inference(resolution,[],['5119','5125']) ).
cnf('5127',plain,
( ~ node112(c_s,s11,X)
| ~ m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5126','4675']) ).
cnf('5128',plain,
~ node110(c_s,s11),
inference(resolution,[],['4892','4670']) ).
cnf('5129',plain,
~ node111(c_s,s11),
inference(resolution,[],['5126','5067']) ).
cnf('5130',plain,
node113(c_s,s11,s12),
inference(resolution,[],['4664','1940']) ).
cnf('5131',plain,
( node112(c_s,s11,s12)
| node110(c_s,s11)
| node111(c_s,s11) ),
inference(resolution,[],['5130','4666']) ).
cnf('5132',plain,
( node112(c_s,s11,s12)
| node110(c_s,s11) ),
inference(resolution,[],['5129','5131']) ).
cnf('5133',plain,
node112(c_s,s11,s12),
inference(resolution,[],['5128','5132']) ).
cnf('5134',plain,
~ m_state_v_DBM(c_s,s12,c_idle),
inference(resolution,[],['5127','5133']) ).
cnf('5135',plain,
~ node111(c_s,s12),
inference(resolution,[],['5134','5067']) ).
cnf('5136',plain,
node113(c_s,s12,s13),
inference(resolution,[],['4664','2036']) ).
cnf('5137',plain,
( node112(c_s,s12,s13)
| node110(c_s,s12)
| node111(c_s,s12) ),
inference(resolution,[],['5136','4666']) ).
cnf('5138',plain,
( node112(c_s,s12,s13)
| node110(c_s,s12) ),
inference(resolution,[],['5135','5137']) ).
cnf('5139',plain,
node112(c_s,s12,s13),
inference(resolution,[],['5044','5138']) ).
cnf('5140',plain,
( ~ node112(c_s,s12,X)
| ~ m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5134','4675']) ).
cnf('5141',plain,
~ m_state_v_DBM(c_s,s13,c_idle),
inference(resolution,[],['5139','5140']) ).
cnf('5142',plain,
~ node111(c_s,s13),
inference(resolution,[],['5141','5067']) ).
cnf('5143',plain,
node113(c_s,s13,s14),
inference(resolution,[],['4664','2062']) ).
cnf('5144',plain,
( node112(c_s,s13,s14)
| node110(c_s,s13)
| node111(c_s,s13) ),
inference(resolution,[],['5143','4666']) ).
cnf('5145',plain,
( node112(c_s,s13,s14)
| node110(c_s,s13) ),
inference(resolution,[],['5142','5144']) ).
cnf('5146',plain,
node112(c_s,s13,s14),
inference(resolution,[],['5043','5145']) ).
cnf('5147',plain,
( ~ node112(c_s,s13,X)
| ~ m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5141','4675']) ).
cnf('5148',plain,
~ m_state_v_DBM(c_s,s14,c_idle),
inference(resolution,[],['5146','5147']) ).
cnf('5149',plain,
( ~ node112(c_s,s14,X)
| ~ m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5148','4675']) ).
cnf('5150',plain,
~ node110(c_s,s14),
inference(resolution,[],['4949','4670']) ).
cnf('5151',plain,
~ node111(c_s,s14),
inference(resolution,[],['5148','5067']) ).
cnf('5152',plain,
node113(c_s,s14,s15),
inference(resolution,[],['4664','2121']) ).
cnf('5153',plain,
( node112(c_s,s14,s15)
| node110(c_s,s14)
| node111(c_s,s14) ),
inference(resolution,[],['5152','4666']) ).
cnf('5154',plain,
( node112(c_s,s14,s15)
| node110(c_s,s14) ),
inference(resolution,[],['5151','5153']) ).
cnf('5155',plain,
node112(c_s,s14,s15),
inference(resolution,[],['5150','5154']) ).
cnf('5156',plain,
~ m_state_v_DBM(c_s,s15,c_idle),
inference(resolution,[],['5149','5155']) ).
cnf('5157',plain,
( ~ node112(c_s,s15,X)
| ~ m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5156','4675']) ).
cnf('5158',plain,
~ node110(c_s,s15),
inference(resolution,[],['4956','4670']) ).
cnf('5159',plain,
~ node111(c_s,s15),
inference(resolution,[],['5156','5067']) ).
cnf('5160',plain,
node113(c_s,s15,s16),
inference(resolution,[],['4664','2150']) ).
cnf('5161',plain,
( node112(c_s,s15,s16)
| node110(c_s,s15)
| node111(c_s,s15) ),
inference(resolution,[],['5160','4666']) ).
cnf('5162',plain,
( node112(c_s,s15,s16)
| node110(c_s,s15) ),
inference(resolution,[],['5159','5161']) ).
cnf('5163',plain,
node112(c_s,s15,s16),
inference(resolution,[],['5158','5162']) ).
cnf('5164',plain,
~ m_state_v_DBM(c_s,s16,c_idle),
inference(resolution,[],['5157','5163']) ).
cnf('5165',plain,
( ~ node112(c_s,s16,X)
| ~ m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5164','4675']) ).
cnf('5166',plain,
~ node110(c_s,s16),
inference(resolution,[],['4981','4670']) ).
cnf('5167',plain,
~ node111(c_s,s16),
inference(resolution,[],['5164','5067']) ).
cnf('5168',plain,
node113(c_s,s16,s17),
inference(resolution,[],['4664','3274']) ).
cnf('5169',plain,
( node112(c_s,s16,s17)
| node110(c_s,s16)
| node111(c_s,s16) ),
inference(resolution,[],['5168','4666']) ).
cnf('5170',plain,
( node112(c_s,s16,s17)
| node110(c_s,s16) ),
inference(resolution,[],['5167','5169']) ).
cnf('5171',plain,
node112(c_s,s16,s17),
inference(resolution,[],['5166','5170']) ).
cnf('5172',plain,
~ m_state_v_DBM(c_s,s17,c_idle),
inference(resolution,[],['5165','5171']) ).
cnf('5173',plain,
( ~ node112(c_s,s17,X)
| ~ m_state_v_DBM(c_s,X,c_idle) ),
inference(resolution,[],['5172','4675']) ).
cnf('5174',plain,
~ node110(c_s,s17),
inference(resolution,[],['4988','4670']) ).
cnf('5175',plain,
~ node111(c_s,s17),
inference(resolution,[],['5172','5067']) ).
cnf('5176',plain,
node113(c_s,s17,s18),
inference(resolution,[],['4664','3399']) ).
cnf('5177',plain,
( node112(c_s,s17,s18)
| node110(c_s,s17)
| node111(c_s,s17) ),
inference(resolution,[],['5176','4666']) ).
cnf('5178',plain,
( node112(c_s,s17,s18)
| node110(c_s,s17) ),
inference(resolution,[],['5175','5177']) ).
cnf('5179',plain,
node112(c_s,s17,s18),
inference(resolution,[],['5174','5178']) ).
cnf('5180',plain,
~ m_state_v_DBM(c_s,s18,c_idle),
inference(resolution,[],['5173','5179']) ).
cnf('5181',plain,
~ node111(c_s,s18),
inference(resolution,[],['5180','5067']) ).
cnf('5182',plain,
node113(c_s,s18,s19),
inference(resolution,[],['4664','3452']) ).
cnf('5183',plain,
( node112(c_s,s18,s19)
| node110(c_s,s18)
| node111(c_s,s18) ),
inference(resolution,[],['5182','4666']) ).
cnf('5184',plain,
( node112(c_s,s18,s19)
| node110(c_s,s18) ),
inference(resolution,[],['5181','5183']) ).
cnf('5185',plain,
node112(c_s,s18,s19),
inference(resolution,[],['5042','5184']) ).
cnf('5186',plain,
m_state_v_DBM(c_s,s18,c_run),
inference(resolution,[],['5180','5053']) ).
cnf('5187',plain,
( ~ node112(c_s,s18,X)
| m_state_v_DBM(c_s,X,c_run) ),
inference(resolution,[],['5186','5055']) ).
cnf('5188',plain,
m_state_v_DBM(c_s,s19,c_run),
inference(resolution,[],['5185','5187']) ).
cnf('5189',plain,
~ always206(s19),
inference(resolution,[then_simplify],['5019','5041','5188']) ).
cnf('5190',plain,
( ~ node207(X)
| always206(X) ),
inference(cnf_transformation,[],[prpty74]) ).
cnf('5191',plain,
~ node207(s19),
inference(resolution,[],['5189','5190']) ).
cnf('5192',plain,
~ node235(s19),
inference(resolution,[then_simplify],['5039','5040','5191']) ).
cnf('5193',plain,
( ~ until236(X)
| xuntil237(X)
| node235(X) ),
inference(cnf_transformation,[],[prpty136]) ).
cnf('5194',plain,
( $pr(loop)
| ~ xuntil237(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty138]) ).
cnf('5195',plain,
( ~ xuntil237(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5194']) ).
cnf('5196',plain,
~ xuntil237(s19),
inference(resolution,[],['3662','5195']) ).
cnf('5197',plain,
~ until236(s19),
inference(resolution,[then_simplify],['5192','5193','5196']) ).
cnf('5198',plain,
( ~ node240(X)
| until236(X)
| node205(X) ),
inference(cnf_transformation,[],[prpty143]) ).
cnf('5199',plain,
( $pr(loop)
| ~ always204(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty63]) ).
cnf('5200',plain,
( ~ always204(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5199']) ).
cnf('5201',plain,
~ always204(s19),
inference(resolution,[],['3662','5200']) ).
cnf('5202',plain,
( ~ node205(X)
| always204(X) ),
inference(cnf_transformation,[],[prpty67]) ).
cnf('5203',plain,
~ node205(s19),
inference(resolution,[],['5201','5202']) ).
cnf('5204',plain,
~ node240(s19),
inference(resolution,[then_simplify],['5197','5198','5203']) ).
cnf('5205',plain,
( ~ until241(X)
| xuntil242(X)
| node240(X) ),
inference(cnf_transformation,[],[prpty144]) ).
cnf('5206',plain,
( $pr(loop)
| ~ xuntil242(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty146]) ).
cnf('5207',plain,
( ~ xuntil242(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5206']) ).
cnf('5208',plain,
~ xuntil242(s19),
inference(resolution,[],['3662','5207']) ).
cnf('5209',plain,
~ until241(s19),
inference(resolution,[then_simplify],['5204','5205','5208']) ).
cnf('5210',plain,
( ~ node245(X)
| until241(X)
| node203(X) ),
inference(cnf_transformation,[],[prpty151]) ).
cnf('5211',plain,
( $pr(loop)
| ~ always202(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty57]) ).
cnf('5212',plain,
( ~ always202(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5211']) ).
cnf('5213',plain,
~ always202(s19),
inference(resolution,[],['3662','5212']) ).
cnf('5214',plain,
( ~ node203(X)
| always202(X) ),
inference(cnf_transformation,[],[prpty60]) ).
cnf('5215',plain,
~ node203(s19),
inference(resolution,[],['5213','5214']) ).
cnf('5216',plain,
~ node245(s19),
inference(resolution,[then_simplify],['5209','5210','5215']) ).
cnf('5217',plain,
( ~ until246(X)
| xuntil247(X)
| node245(X) ),
inference(cnf_transformation,[],[prpty152]) ).
cnf('5218',plain,
( $pr(loop)
| ~ xuntil247(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty154]) ).
cnf('5219',plain,
( ~ xuntil247(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5218']) ).
cnf('5220',plain,
~ xuntil247(s19),
inference(resolution,[],['3662','5219']) ).
cnf('5221',plain,
~ until246(s19),
inference(resolution,[then_simplify],['5216','5217','5220']) ).
cnf('5222',plain,
( ~ node250(X)
| until246(X)
| node201(X) ),
inference(cnf_transformation,[],[prpty159]) ).
cnf('5223',plain,
( $pr(loop)
| ~ always200(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty51]) ).
cnf('5224',plain,
( ~ always200(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5223']) ).
cnf('5225',plain,
~ always200(s19),
inference(resolution,[],['3662','5224']) ).
cnf('5226',plain,
( ~ node201(X)
| always200(X) ),
inference(cnf_transformation,[],[prpty54]) ).
cnf('5227',plain,
~ node201(s19),
inference(resolution,[],['5225','5226']) ).
cnf('5228',plain,
~ node250(s19),
inference(resolution,[then_simplify],['5221','5222','5227']) ).
cnf('5229',plain,
( ~ until251(X)
| xuntil252(X)
| node250(X) ),
inference(cnf_transformation,[],[prpty160]) ).
cnf('5230',plain,
( $pr(loop)
| ~ xuntil252(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty162]) ).
cnf('5231',plain,
( ~ xuntil252(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5230']) ).
cnf('5232',plain,
~ xuntil252(s19),
inference(resolution,[],['3662','5231']) ).
cnf('5233',plain,
~ until251(s19),
inference(resolution,[then_simplify],['5228','5229','5232']) ).
cnf('5234',plain,
( ~ node255(X)
| until251(X)
| node199(X) ),
inference(cnf_transformation,[],[prpty167]) ).
cnf('5235',plain,
( $pr(loop)
| ~ always198(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty45]) ).
cnf('5236',plain,
( ~ always198(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5235']) ).
cnf('5237',plain,
~ always198(s19),
inference(resolution,[],['3662','5236']) ).
cnf('5238',plain,
( ~ node199(X)
| always198(X) ),
inference(cnf_transformation,[],[prpty48]) ).
cnf('5239',plain,
~ node199(s19),
inference(resolution,[],['5237','5238']) ).
cnf('5240',plain,
~ node255(s19),
inference(resolution,[then_simplify],['5233','5234','5239']) ).
cnf('5241',plain,
( ~ until256(X)
| xuntil257(X)
| node255(X) ),
inference(cnf_transformation,[],[prpty168]) ).
cnf('5242',plain,
( $pr(loop)
| ~ xuntil257(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty170]) ).
cnf('5243',plain,
( ~ xuntil257(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5242']) ).
cnf('5244',plain,
~ xuntil257(s19),
inference(resolution,[],['3662','5243']) ).
cnf('5245',plain,
~ until256(s19),
inference(resolution,[then_simplify],['5240','5241','5244']) ).
cnf('5246',plain,
( ~ node260(X)
| until256(X)
| node197(X) ),
inference(cnf_transformation,[],[prpty175]) ).
cnf('5247',plain,
( $pr(loop)
| ~ always196(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty38]) ).
cnf('5248',plain,
( ~ always196(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5247']) ).
cnf('5249',plain,
~ always196(s19),
inference(resolution,[],['3662','5248']) ).
cnf('5250',plain,
( ~ node197(X)
| always196(X) ),
inference(cnf_transformation,[],[prpty42]) ).
cnf('5251',plain,
~ node197(s19),
inference(resolution,[],['5249','5250']) ).
cnf('5252',plain,
~ node260(s19),
inference(resolution,[then_simplify],['5245','5246','5251']) ).
cnf('5253',plain,
( ~ until261(X)
| xuntil262(X)
| node260(X) ),
inference(cnf_transformation,[],[prpty176]) ).
cnf('5254',plain,
( $pr(loop)
| ~ xuntil262(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty178]) ).
cnf('5255',plain,
( ~ xuntil262(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5254']) ).
cnf('5256',plain,
~ xuntil262(s19),
inference(resolution,[],['3662','5255']) ).
cnf('5257',plain,
~ until261(s19),
inference(resolution,[then_simplify],['5252','5253','5256']) ).
cnf('5258',plain,
( ~ node265(X)
| until261(X)
| node195(X) ),
inference(cnf_transformation,[],[prpty183]) ).
cnf('5259',plain,
( $pr(loop)
| ~ always194(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty31]) ).
cnf('5260',plain,
( ~ always194(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5259']) ).
cnf('5261',plain,
~ always194(s19),
inference(resolution,[],['3662','5260']) ).
cnf('5262',plain,
( ~ node195(X)
| always194(X) ),
inference(cnf_transformation,[],[prpty35]) ).
cnf('5263',plain,
~ node195(s19),
inference(resolution,[],['5261','5262']) ).
cnf('5264',plain,
~ node265(s19),
inference(resolution,[then_simplify],['5257','5258','5263']) ).
cnf('5265',plain,
( ~ until266(X)
| xuntil267(X)
| node265(X) ),
inference(cnf_transformation,[],[prpty184]) ).
cnf('5266',plain,
( $pr(loop)
| ~ xuntil267(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty186]) ).
cnf('5267',plain,
( ~ xuntil267(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5266']) ).
cnf('5268',plain,
~ xuntil267(s19),
inference(resolution,[],['3662','5267']) ).
cnf('5269',plain,
~ until266(s19),
inference(resolution,[then_simplify],['5264','5265','5268']) ).
cnf('5270',plain,
( ~ node270(X)
| until266(X)
| node193(X) ),
inference(cnf_transformation,[],[prpty191]) ).
cnf('5271',plain,
( $pr(loop)
| ~ always192(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty23]) ).
cnf('5272',plain,
( ~ always192(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5271']) ).
cnf('5273',plain,
~ always192(s19),
inference(resolution,[],['3662','5272']) ).
cnf('5274',plain,
( ~ node193(X)
| always192(X) ),
inference(cnf_transformation,[],[prpty28]) ).
cnf('5275',plain,
~ node193(s19),
inference(resolution,[],['5273','5274']) ).
cnf('5276',plain,
~ node270(s19),
inference(resolution,[then_simplify],['5269','5270','5275']) ).
cnf('5277',plain,
( ~ until271(X)
| xuntil272(X)
| node270(X) ),
inference(cnf_transformation,[],[prpty192]) ).
cnf('5278',plain,
( $pr(loop)
| ~ xuntil272(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty194]) ).
cnf('5279',plain,
( ~ xuntil272(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5278']) ).
cnf('5280',plain,
~ xuntil272(s19),
inference(resolution,[],['3662','5279']) ).
cnf('5281',plain,
~ until271(s19),
inference(resolution,[then_simplify],['5276','5277','5280']) ).
cnf('5282',plain,
( ~ node275(X)
| until271(X)
| node191(X) ),
inference(cnf_transformation,[],[prpty199]) ).
cnf('5283',plain,
( $pr(loop)
| ~ always190(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty15]) ).
cnf('5284',plain,
( ~ always190(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5283']) ).
cnf('5285',plain,
~ always190(s19),
inference(resolution,[],['3662','5284']) ).
cnf('5286',plain,
( ~ node191(X)
| always190(X) ),
inference(cnf_transformation,[],[prpty20]) ).
cnf('5287',plain,
~ node191(s19),
inference(resolution,[],['5285','5286']) ).
cnf('5288',plain,
~ node275(s19),
inference(resolution,[then_simplify],['5281','5282','5287']) ).
cnf('5289',plain,
( ~ until276(X)
| xuntil277(X)
| node275(X) ),
inference(cnf_transformation,[],[prpty200]) ).
cnf('5290',plain,
( $pr(loop)
| ~ xuntil277(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty202]) ).
cnf('5291',plain,
( ~ xuntil277(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5290']) ).
cnf('5292',plain,
~ xuntil277(s19),
inference(resolution,[],['3662','5291']) ).
cnf('5293',plain,
~ until276(s19),
inference(resolution,[then_simplify],['5288','5289','5292']) ).
cnf('5294',plain,
( ~ node280(X)
| until276(X)
| node189(X) ),
inference(cnf_transformation,[],[prpty207]) ).
cnf('5295',plain,
~ node1(c_s,s13),
inference(resolution,[],['4446','1227']) ).
cnf('5296',plain,
node4(c_s,s13,s14),
inference(resolution,[],['498','2062']) ).
cnf('5297',plain,
( ~ node4(X,Y,Z)
| ~ m_state_v_FBM(X,Y,c_on)
| ~ m_state_v_deliv(X,Y)
| m_state_v_tl(X,Z)
| m_state_v_pfl(X,Y)
| node1(X,Y) ),
inference(cnf_transformation,[],[m_Communication_10]) ).
cnf('5298',plain,
( ~ m_state_v_FBM(c_s,s13,c_on)
| ~ m_state_v_deliv(c_s,s13)
| m_state_v_tl(c_s,s14)
| m_state_v_pfl(c_s,s13)
| node1(c_s,s13) ),
inference(resolution,[],['5296','5297']) ).
cnf('5299',plain,
( m_state_v_tl(c_s,s14)
| node1(c_s,s13) ),
inference(resolution,[then_simplify],['2048','5298','2135','2136']) ).
cnf('5300',plain,
m_state_v_tl(c_s,s14),
inference(resolution,[],['5295','5299']) ).
cnf('5301',plain,
m_state_v_TEM(c_s,s11,c_idle),
inference(resolution,[then_simplify],['1934','2008','2011','2013','2019','2021']) ).
cnf('5302',plain,
( ~ node174(c_s,s11,X)
| m_state_v_TEM(c_s,X,c_idle) ),
inference(resolution,[],['5301','1300']) ).
cnf('5303',plain,
~ node170(c_s,s11),
inference(resolution,[],['1693','2012']) ).
cnf('5304',plain,
~ m_state_v_TEM(c_s,s11,c_down),
inference(resolution,[],['5301','267']) ).
cnf('5305',plain,
~ node173(c_s,s11),
inference(resolution,[],['5304','1287']) ).
cnf('5306',plain,
node175(c_s,s11,s12),
inference(resolution,[],['484','1940']) ).
cnf('5307',plain,
( node174(c_s,s11,s12)
| node170(c_s,s11)
| node171(c_s,s11)
| node172(c_s,s11)
| node173(c_s,s11) ),
inference(resolution,[],['5306','1289']) ).
cnf('5308',plain,
node22(c_s,s10,s11),
inference(resolution,[],['264','1610']) ).
cnf('5309',plain,
( ~ m_state_v_TEM(c_s,s10,c_down)
| ~ m_state_v_topPos(c_s,s11) ),
inference(resolution,[],['5308','2016']) ).
cnf('5310',plain,
~ m_state_v_topPos(c_s,s11),
inference(resolution,[],['1934','5309']) ).
cnf('5311',plain,
~ node171(c_s,s11),
inference(resolution,[],['5310','1292']) ).
cnf('5312',plain,
node28(c_s,s10,s11),
inference(resolution,[],['478','1610']) ).
cnf('5313',plain,
( ~ m_state_v_TRM(c_s,s10,c_counterclockwise)
| ~ m_state_v_maxRot(c_s,s11) ),
inference(resolution,[],['5312','1999']) ).
cnf('5314',plain,
~ m_state_v_maxRot(c_s,s11),
inference(resolution,[],['1965','5313']) ).
cnf('5315',plain,
~ node172(c_s,s11),
inference(resolution,[],['5314','2020']) ).
cnf('5316',plain,
( node174(c_s,s11,s12)
| node170(c_s,s11) ),
inference(resolution,[then_simplify],['5305','5307','5311','5315']) ).
cnf('5317',plain,
node174(c_s,s11,s12),
inference(resolution,[],['5303','5316']) ).
cnf('5318',plain,
m_state_v_TEM(c_s,s12,c_idle),
inference(resolution,[],['5302','5317']) ).
cnf('5319',plain,
( ~ node174(c_s,s12,X)
| m_state_v_TEM(c_s,X,c_idle) ),
inference(resolution,[],['5318','1300']) ).
cnf('5320',plain,
~ node1(c_s,s11),
inference(resolution,[],['4310','1227']) ).
cnf('5321',plain,
m_state_v_pfl(c_s,s11),
inference(resolution,[then_simplify],['2106','515','2107']) ).
cnf('5322',plain,
~ node2(c_s,s11),
inference(resolution,[],['5321','519']) ).
cnf('5323',plain,
node4(c_s,s11,s12),
inference(resolution,[],['498','1940']) ).
cnf('5324',plain,
( node3(c_s,s11,s12)
| node2(c_s,s11)
| node1(c_s,s11) ),
inference(resolution,[],['5323','500']) ).
cnf('5325',plain,
( node3(c_s,s11,s12)
| node1(c_s,s11) ),
inference(resolution,[],['5322','5324']) ).
cnf('5326',plain,
node3(c_s,s11,s12),
inference(resolution,[],['5320','5325']) ).
cnf('5327',plain,
~ m_state_v_tl(c_s,s11),
inference(resolution,[then_simplify],['1614','1615','1692']) ).
cnf('5328',plain,
~ m_state_v_tl(c_s,s12),
inference(resolution,[then_simplify],['5326','1615','5327']) ).
cnf('5329',plain,
~ node170(c_s,s12),
inference(resolution,[],['5328','2012']) ).
cnf('5330',plain,
~ m_state_v_TEM(c_s,s12,c_down),
inference(resolution,[],['5318','267']) ).
cnf('5331',plain,
~ node173(c_s,s12),
inference(resolution,[],['5330','1287']) ).
cnf('5332',plain,
node175(c_s,s12,s13),
inference(resolution,[],['484','2036']) ).
cnf('5333',plain,
( node174(c_s,s12,s13)
| node170(c_s,s12)
| node171(c_s,s12)
| node172(c_s,s12)
| node173(c_s,s12) ),
inference(resolution,[],['5332','1289']) ).
cnf('5334',plain,
~ m_state_v_TEM(c_s,s11,c_up),
inference(resolution,[],['5301','270']) ).
cnf('5335',plain,
node22(c_s,s11,s12),
inference(resolution,[],['264','1940']) ).
cnf('5336',plain,
( m_state_v_TEM(c_s,s11,c_up)
| node21(c_s,s11,s12)
| m_state_v_TEM(c_s,s11,c_down) ),
inference(resolution,[],['5335','266']) ).
cnf('5337',plain,
~ m_state_v_TEM(c_s,s11,c_down),
inference(resolution,[],['5301','267']) ).
cnf('5338',plain,
node21(c_s,s11,s12),
inference(resolution,[then_simplify],['5334','5336','5337']) ).
cnf('5339',plain,
~ m_state_v_topPos(c_s,s11),
inference(resolution,[],['1934','5309']) ).
cnf('5340',plain,
~ m_state_v_topPos(c_s,s12),
inference(resolution,[then_simplify],['5338','274','5339']) ).
cnf('5341',plain,
~ node171(c_s,s12),
inference(resolution,[],['5340','1292']) ).
cnf('5342',plain,
m_state_v_TRM(c_s,s11,c_idle),
inference(resolution,[then_simplify],['1965','1989','1993','1996','2002','2004']) ).
cnf('5343',plain,
~ m_state_v_TRM(c_s,s11,c_counterclockwise),
inference(resolution,[],['5342','466']) ).
cnf('5344',plain,
node28(c_s,s11,s12),
inference(resolution,[],['478','1940']) ).
cnf('5345',plain,
( m_state_v_TRM(c_s,s11,c_counterclockwise)
| m_state_v_TRM(c_s,s11,c_clockwise)
| node27(c_s,s11,s12) ),
inference(resolution,[],['5344','1705']) ).
cnf('5346',plain,
~ m_state_v_TRM(c_s,s11,c_clockwise),
inference(resolution,[],['5342','463']) ).
cnf('5347',plain,
node27(c_s,s11,s12),
inference(resolution,[then_simplify],['5343','5345','5346']) ).
cnf('5348',plain,
~ m_state_v_maxRot(c_s,s11),
inference(resolution,[],['1965','5313']) ).
cnf('5349',plain,
~ m_state_v_maxRot(c_s,s12),
inference(resolution,[then_simplify],['5347','1708','5348']) ).
cnf('5350',plain,
~ node172(c_s,s12),
inference(resolution,[],['5349','2020']) ).
cnf('5351',plain,
( node174(c_s,s12,s13)
| node170(c_s,s12) ),
inference(resolution,[then_simplify],['5331','5333','5341','5350']) ).
cnf('5352',plain,
node174(c_s,s12,s13),
inference(resolution,[],['5329','5351']) ).
cnf('5353',plain,
m_state_v_TEM(c_s,s13,c_idle),
inference(resolution,[],['5319','5352']) ).
cnf('5354',plain,
( ~ node174(c_s,s13,X)
| m_state_v_TEM(c_s,X,c_idle) ),
inference(resolution,[],['5353','1300']) ).
cnf('5355',plain,
~ node1(c_s,s12),
inference(resolution,[],['4375','1227']) ).
cnf('5356',plain,
~ node2(c_s,s12),
inference(resolution,[],['2109','519']) ).
cnf('5357',plain,
node4(c_s,s12,s13),
inference(resolution,[],['498','2036']) ).
cnf('5358',plain,
( node3(c_s,s12,s13)
| node2(c_s,s12)
| node1(c_s,s12) ),
inference(resolution,[],['5357','500']) ).
cnf('5359',plain,
( node3(c_s,s12,s13)
| node1(c_s,s12) ),
inference(resolution,[],['5356','5358']) ).
cnf('5360',plain,
node3(c_s,s12,s13),
inference(resolution,[],['5355','5359']) ).
cnf('5361',plain,
~ m_state_v_tl(c_s,s12),
inference(resolution,[then_simplify],['5326','1615','5327']) ).
cnf('5362',plain,
~ m_state_v_tl(c_s,s13),
inference(resolution,[then_simplify],['5360','1615','5361']) ).
cnf('5363',plain,
~ node170(c_s,s13),
inference(resolution,[],['5362','2012']) ).
cnf('5364',plain,
~ m_state_v_TEM(c_s,s13,c_down),
inference(resolution,[],['5353','267']) ).
cnf('5365',plain,
~ node173(c_s,s13),
inference(resolution,[],['5364','1287']) ).
cnf('5366',plain,
node175(c_s,s13,s14),
inference(resolution,[],['484','2062']) ).
cnf('5367',plain,
( node174(c_s,s13,s14)
| node170(c_s,s13)
| node171(c_s,s13)
| node172(c_s,s13)
| node173(c_s,s13) ),
inference(resolution,[],['5366','1289']) ).
cnf('5368',plain,
~ m_state_v_TEM(c_s,s12,c_up),
inference(resolution,[],['5318','270']) ).
cnf('5369',plain,
node22(c_s,s12,s13),
inference(resolution,[],['264','2036']) ).
cnf('5370',plain,
( m_state_v_TEM(c_s,s12,c_up)
| node21(c_s,s12,s13)
| m_state_v_TEM(c_s,s12,c_down) ),
inference(resolution,[],['5369','266']) ).
cnf('5371',plain,
~ m_state_v_TEM(c_s,s12,c_down),
inference(resolution,[],['5318','267']) ).
cnf('5372',plain,
node21(c_s,s12,s13),
inference(resolution,[then_simplify],['5368','5370','5371']) ).
cnf('5373',plain,
~ m_state_v_topPos(c_s,s12),
inference(resolution,[then_simplify],['5338','274','5339']) ).
cnf('5374',plain,
~ m_state_v_topPos(c_s,s13),
inference(resolution,[then_simplify],['5372','274','5373']) ).
cnf('5375',plain,
~ node171(c_s,s13),
inference(resolution,[],['5374','1292']) ).
cnf('5376',plain,
( ~ node168(c_s,s11,X)
| m_state_v_TRM(c_s,X,c_idle) ),
inference(resolution,[],['5342','1698']) ).
cnf('5377',plain,
~ node164(c_s,s11),
inference(resolution,[],['1693','1995']) ).
cnf('5378',plain,
~ node167(c_s,s11),
inference(resolution,[],['5343','1719']) ).
cnf('5379',plain,
node169(c_s,s11,s12),
inference(resolution,[],['458','1940']) ).
cnf('5380',plain,
( node168(c_s,s11,s12)
| node164(c_s,s11)
| node165(c_s,s11)
| node166(c_s,s11)
| node167(c_s,s11) ),
inference(resolution,[],['5379','1701']) ).
cnf('5381',plain,
~ node165(c_s,s11),
inference(resolution,[],['5314','1712']) ).
cnf('5382',plain,
~ node166(c_s,s11),
inference(resolution,[],['5314','2003']) ).
cnf('5383',plain,
( node168(c_s,s11,s12)
| node164(c_s,s11) ),
inference(resolution,[then_simplify],['5378','5380','5381','5382']) ).
cnf('5384',plain,
node168(c_s,s11,s12),
inference(resolution,[],['5377','5383']) ).
cnf('5385',plain,
m_state_v_TRM(c_s,s12,c_idle),
inference(resolution,[],['5376','5384']) ).
cnf('5386',plain,
~ m_state_v_TRM(c_s,s12,c_counterclockwise),
inference(resolution,[],['5385','466']) ).
cnf('5387',plain,
node28(c_s,s12,s13),
inference(resolution,[],['478','2036']) ).
cnf('5388',plain,
( m_state_v_TRM(c_s,s12,c_counterclockwise)
| m_state_v_TRM(c_s,s12,c_clockwise)
| node27(c_s,s12,s13) ),
inference(resolution,[],['5387','1705']) ).
cnf('5389',plain,
~ m_state_v_TRM(c_s,s12,c_clockwise),
inference(resolution,[],['5385','463']) ).
cnf('5390',plain,
node27(c_s,s12,s13),
inference(resolution,[then_simplify],['5386','5388','5389']) ).
cnf('5391',plain,
~ m_state_v_maxRot(c_s,s12),
inference(resolution,[then_simplify],['5347','1708','5348']) ).
cnf('5392',plain,
~ m_state_v_maxRot(c_s,s13),
inference(resolution,[then_simplify],['5390','1708','5391']) ).
cnf('5393',plain,
~ node172(c_s,s13),
inference(resolution,[],['5392','2020']) ).
cnf('5394',plain,
( node174(c_s,s13,s14)
| node170(c_s,s13) ),
inference(resolution,[then_simplify],['5365','5367','5375','5393']) ).
cnf('5395',plain,
node174(c_s,s13,s14),
inference(resolution,[],['5363','5394']) ).
cnf('5396',plain,
m_state_v_TEM(c_s,s14,c_idle),
inference(resolution,[],['5354','5395']) ).
cnf('5397',plain,
node175(c_s,s14,s15),
inference(resolution,[],['484','2121']) ).
cnf('5398',plain,
( ~ m_state_v_TRM(c_s,s14,c_idle)
| ~ m_state_v_TEM(c_s,s14,c_idle)
| ~ m_state_v_tl(c_s,s14)
| ~ m_state_v_botPos(c_s,s14)
| ~ m_state_v_minRot(c_s,s14)
| m_state_v_TEM(c_s,s15,c_up) ),
inference(resolution,[],['5397','486']) ).
cnf('5399',plain,
( ~ node168(c_s,s12,X)
| m_state_v_TRM(c_s,X,c_idle) ),
inference(resolution,[],['5385','1698']) ).
cnf('5400',plain,
~ node164(c_s,s12),
inference(resolution,[],['5328','1995']) ).
cnf('5401',plain,
~ node167(c_s,s12),
inference(resolution,[],['5386','1719']) ).
cnf('5402',plain,
node169(c_s,s12,s13),
inference(resolution,[],['458','2036']) ).
cnf('5403',plain,
( node168(c_s,s12,s13)
| node164(c_s,s12)
| node165(c_s,s12)
| node166(c_s,s12)
| node167(c_s,s12) ),
inference(resolution,[],['5402','1701']) ).
cnf('5404',plain,
~ node165(c_s,s12),
inference(resolution,[],['5349','1712']) ).
cnf('5405',plain,
~ node166(c_s,s12),
inference(resolution,[],['5349','2003']) ).
cnf('5406',plain,
( node168(c_s,s12,s13)
| node164(c_s,s12) ),
inference(resolution,[then_simplify],['5401','5403','5404','5405']) ).
cnf('5407',plain,
node168(c_s,s12,s13),
inference(resolution,[],['5400','5406']) ).
cnf('5408',plain,
m_state_v_TRM(c_s,s13,c_idle),
inference(resolution,[],['5399','5407']) ).
cnf('5409',plain,
( ~ node168(c_s,s13,X)
| m_state_v_TRM(c_s,X,c_idle) ),
inference(resolution,[],['5408','1698']) ).
cnf('5410',plain,
~ node164(c_s,s13),
inference(resolution,[],['5362','1995']) ).
cnf('5411',plain,
~ m_state_v_TRM(c_s,s13,c_counterclockwise),
inference(resolution,[],['5408','466']) ).
cnf('5412',plain,
~ node167(c_s,s13),
inference(resolution,[],['5411','1719']) ).
cnf('5413',plain,
node169(c_s,s13,s14),
inference(resolution,[],['458','2062']) ).
cnf('5414',plain,
( node168(c_s,s13,s14)
| node164(c_s,s13)
| node165(c_s,s13)
| node166(c_s,s13)
| node167(c_s,s13) ),
inference(resolution,[],['5413','1701']) ).
cnf('5415',plain,
~ node165(c_s,s13),
inference(resolution,[],['5392','1712']) ).
cnf('5416',plain,
~ node166(c_s,s13),
inference(resolution,[],['5392','2003']) ).
cnf('5417',plain,
( node168(c_s,s13,s14)
| node164(c_s,s13) ),
inference(resolution,[then_simplify],['5412','5414','5415','5416']) ).
cnf('5418',plain,
node168(c_s,s13,s14),
inference(resolution,[],['5410','5417']) ).
cnf('5419',plain,
m_state_v_TRM(c_s,s14,c_idle),
inference(resolution,[],['5409','5418']) ).
cnf('5420',plain,
~ m_state_v_TEM(c_s,s13,c_up),
inference(resolution,[],['5353','270']) ).
cnf('5421',plain,
node24(c_s,s13,s14),
inference(resolution,[],['1305','2062']) ).
cnf('5422',plain,
( m_state_v_TEM(c_s,s13,c_up)
| node23(c_s,s13,s14)
| m_state_v_TEM(c_s,s13,c_down) ),
inference(resolution,[],['5421','1335']) ).
cnf('5423',plain,
~ m_state_v_TEM(c_s,s13,c_down),
inference(resolution,[],['5353','267']) ).
cnf('5424',plain,
node23(c_s,s13,s14),
inference(resolution,[then_simplify],['5420','5422','5423']) ).
cnf('5425',plain,
( ~ node23(X,Y,Z)
| ~ m_state_v_botPos(X,Y)
| m_state_v_botPos(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_18]) ).
cnf('5426',plain,
node24(c_s,s12,s13),
inference(resolution,[],['1305','2036']) ).
cnf('5427',plain,
( m_state_v_TEM(c_s,s12,c_up)
| node23(c_s,s12,s13)
| m_state_v_TEM(c_s,s12,c_down) ),
inference(resolution,[],['5426','1335']) ).
cnf('5428',plain,
node23(c_s,s12,s13),
inference(resolution,[then_simplify],['5368','5427','5371']) ).
cnf('5429',plain,
node24(c_s,s11,s12),
inference(resolution,[],['1305','1940']) ).
cnf('5430',plain,
( m_state_v_TEM(c_s,s11,c_up)
| node23(c_s,s11,s12)
| m_state_v_TEM(c_s,s11,c_down) ),
inference(resolution,[],['5429','1335']) ).
cnf('5431',plain,
node23(c_s,s11,s12),
inference(resolution,[then_simplify],['5334','5430','5337']) ).
cnf('5432',plain,
m_state_v_botPos(c_s,s11),
inference(resolution,[],['1934','1937']) ).
cnf('5433',plain,
m_state_v_botPos(c_s,s12),
inference(resolution,[then_simplify],['5431','5425','5432']) ).
cnf('5434',plain,
m_state_v_botPos(c_s,s13),
inference(resolution,[then_simplify],['5428','5425','5433']) ).
cnf('5435',plain,
m_state_v_botPos(c_s,s14),
inference(resolution,[then_simplify],['5424','5425','5434']) ).
cnf('5436',plain,
node26(c_s,s13,s14),
inference(resolution,[],['1733','2062']) ).
cnf('5437',plain,
( m_state_v_TRM(c_s,s13,c_counterclockwise)
| m_state_v_TRM(c_s,s13,c_clockwise)
| node25(c_s,s13,s14) ),
inference(resolution,[],['5436','1756']) ).
cnf('5438',plain,
~ m_state_v_TRM(c_s,s13,c_clockwise),
inference(resolution,[],['5408','463']) ).
cnf('5439',plain,
node25(c_s,s13,s14),
inference(resolution,[then_simplify],['5411','5437','5438']) ).
cnf('5440',plain,
( ~ node25(X,Y,Z)
| ~ m_state_v_minRot(X,Y)
| m_state_v_minRot(X,Z) ),
inference(cnf_transformation,[],[m_Sensor_24]) ).
cnf('5441',plain,
node26(c_s,s12,s13),
inference(resolution,[],['1733','2036']) ).
cnf('5442',plain,
( m_state_v_TRM(c_s,s12,c_counterclockwise)
| m_state_v_TRM(c_s,s12,c_clockwise)
| node25(c_s,s12,s13) ),
inference(resolution,[],['5441','1756']) ).
cnf('5443',plain,
node25(c_s,s12,s13),
inference(resolution,[then_simplify],['5386','5442','5389']) ).
cnf('5444',plain,
node26(c_s,s11,s12),
inference(resolution,[],['1733','1940']) ).
cnf('5445',plain,
( m_state_v_TRM(c_s,s11,c_counterclockwise)
| m_state_v_TRM(c_s,s11,c_clockwise)
| node25(c_s,s11,s12) ),
inference(resolution,[],['5444','1756']) ).
cnf('5446',plain,
node25(c_s,s11,s12),
inference(resolution,[then_simplify],['5343','5445','5346']) ).
cnf('5447',plain,
m_state_v_minRot(c_s,s12),
inference(resolution,[then_simplify],['5446','5440','2025']) ).
cnf('5448',plain,
m_state_v_minRot(c_s,s13),
inference(resolution,[then_simplify],['5443','5440','5447']) ).
cnf('5449',plain,
m_state_v_minRot(c_s,s14),
inference(resolution,[then_simplify],['5439','5440','5448']) ).
cnf('5450',plain,
( ~ m_state_v_tl(c_s,s14)
| m_state_v_TEM(c_s,s15,c_up) ),
inference(resolution,[then_simplify],['5396','5398','5419','5435','5449']) ).
cnf('5451',plain,
m_state_v_TEM(c_s,s15,c_up),
inference(resolution,[],['5300','5450']) ).
cnf('5452',plain,
( ~ node174(c_s,s15,X)
| m_state_v_TEM(c_s,X,c_up) ),
inference(resolution,[],['5451','1300']) ).
cnf('5453',plain,
~ m_state_v_TEM(c_s,s15,c_down),
inference(resolution,[],['5451','1285']) ).
cnf('5454',plain,
~ node173(c_s,s15),
inference(resolution,[],['5453','1287']) ).
cnf('5455',plain,
node175(c_s,s15,s16),
inference(resolution,[],['484','2150']) ).
cnf('5456',plain,
( node174(c_s,s15,s16)
| node170(c_s,s15)
| node171(c_s,s15)
| node172(c_s,s15)
| node173(c_s,s15) ),
inference(resolution,[],['5455','1289']) ).
cnf('5457',plain,
~ m_state_v_TEM(c_s,s15,c_idle),
inference(resolution,[],['5451','270']) ).
cnf('5458',plain,
~ node170(c_s,s15),
inference(resolution,[],['5457','1295']) ).
cnf('5459',plain,
~ m_state_v_TEM(c_s,s14,c_up),
inference(resolution,[],['5396','270']) ).
cnf('5460',plain,
node22(c_s,s14,s15),
inference(resolution,[],['264','2121']) ).
cnf('5461',plain,
( m_state_v_TEM(c_s,s14,c_up)
| node21(c_s,s14,s15)
| m_state_v_TEM(c_s,s14,c_down) ),
inference(resolution,[],['5460','266']) ).
cnf('5462',plain,
~ m_state_v_TEM(c_s,s14,c_down),
inference(resolution,[],['5396','267']) ).
cnf('5463',plain,
node21(c_s,s14,s15),
inference(resolution,[then_simplify],['5459','5461','5462']) ).
cnf('5464',plain,
node22(c_s,s13,s14),
inference(resolution,[],['264','2062']) ).
cnf('5465',plain,
( m_state_v_TEM(c_s,s13,c_up)
| node21(c_s,s13,s14)
| m_state_v_TEM(c_s,s13,c_down) ),
inference(resolution,[],['5464','266']) ).
cnf('5466',plain,
node21(c_s,s13,s14),
inference(resolution,[then_simplify],['5420','5465','5423']) ).
cnf('5467',plain,
~ m_state_v_topPos(c_s,s13),
inference(resolution,[then_simplify],['5372','274','5373']) ).
cnf('5468',plain,
~ m_state_v_topPos(c_s,s14),
inference(resolution,[then_simplify],['5466','274','5467']) ).
cnf('5469',plain,
~ m_state_v_topPos(c_s,s15),
inference(resolution,[then_simplify],['5463','274','5468']) ).
cnf('5470',plain,
~ node171(c_s,s15),
inference(resolution,[],['5469','1292']) ).
cnf('5471',plain,
m_state_v_TRM(c_s,s14,c_idle),
inference(resolution,[],['5409','5418']) ).
cnf('5472',plain,
~ m_state_v_TRM(c_s,s14,c_counterclockwise),
inference(resolution,[],['5471','466']) ).
cnf('5473',plain,
node28(c_s,s14,s15),
inference(resolution,[],['478','2121']) ).
cnf('5474',plain,
( node27(c_s,s14,s15)
| m_state_v_TRM(c_s,s14,c_counterclockwise)
| m_state_v_TRM(c_s,s14,c_clockwise) ),
inference(resolution,[],['5473','1705']) ).
cnf('5475',plain,
~ m_state_v_TRM(c_s,s14,c_clockwise),
inference(resolution,[],['5471','463']) ).
cnf('5476',plain,
node27(c_s,s14,s15),
inference(resolution,[then_simplify],['5472','5474','5475']) ).
cnf('5477',plain,
node28(c_s,s13,s14),
inference(resolution,[],['478','2062']) ).
cnf('5478',plain,
( node27(c_s,s13,s14)
| m_state_v_TRM(c_s,s13,c_counterclockwise)
| m_state_v_TRM(c_s,s13,c_clockwise) ),
inference(resolution,[],['5477','1705']) ).
cnf('5479',plain,
node27(c_s,s13,s14),
inference(resolution,[then_simplify],['5411','5478','5438']) ).
cnf('5480',plain,
~ m_state_v_maxRot(c_s,s13),
inference(resolution,[then_simplify],['5390','1708','5391']) ).
cnf('5481',plain,
~ m_state_v_maxRot(c_s,s14),
inference(resolution,[then_simplify],['5479','1708','5480']) ).
cnf('5482',plain,
~ m_state_v_maxRot(c_s,s15),
inference(resolution,[then_simplify],['5476','1708','5481']) ).
cnf('5483',plain,
~ node172(c_s,s15),
inference(resolution,[],['5482','2020']) ).
cnf('5484',plain,
node174(c_s,s15,s16),
inference(resolution,[then_simplify],['5454','5456','5458','5470','5483']) ).
cnf('5485',plain,
m_state_v_TEM(c_s,s16,c_up),
inference(resolution,[],['5452','5484']) ).
cnf('5486',plain,
node175(c_s,s16,s17),
inference(resolution,[],['484','3274']) ).
cnf('5487',plain,
( ~ m_state_v_TEM(c_s,s16,c_up)
| ~ m_state_v_topPos(c_s,s16)
| m_state_v_TEM(c_s,s17,c_idle)
| node170(c_s,s16) ),
inference(resolution,[],['5486','1303']) ).
cnf('5488',plain,
node22(c_s,s15,s16),
inference(resolution,[],['264','2150']) ).
cnf('5489',plain,
( ~ m_state_v_TEM(c_s,s15,c_up)
| m_state_v_topPos(c_s,s16) ),
inference(resolution,[],['5488','492']) ).
cnf('5490',plain,
m_state_v_topPos(c_s,s16),
inference(resolution,[],['5451','5489']) ).
cnf('5491',plain,
node24(c_s,s15,s16),
inference(resolution,[],['1305','2150']) ).
cnf('5492',plain,
( ~ m_state_v_TEM(c_s,s15,c_up)
| ~ m_state_v_botPos(c_s,s16) ),
inference(resolution,[],['5491','1309']) ).
cnf('5493',plain,
~ m_state_v_botPos(c_s,s16),
inference(resolution,[],['5451','5492']) ).
cnf('5494',plain,
~ node170(c_s,s16),
inference(resolution,[],['5493','1312']) ).
cnf('5495',plain,
m_state_v_TEM(c_s,s17,c_idle),
inference(resolution,[then_simplify],['5485','5487','5490','5494']) ).
cnf('5496',plain,
~ m_state_v_TEM(c_s,s17,c_up),
inference(resolution,[],['5495','270']) ).
cnf('5497',plain,
node24(c_s,s17,s18),
inference(resolution,[],['1305','3399']) ).
cnf('5498',plain,
( m_state_v_TEM(c_s,s17,c_down)
| node23(c_s,s17,s18)
| m_state_v_TEM(c_s,s17,c_up) ),
inference(resolution,[],['5497','1335']) ).
cnf('5499',plain,
~ m_state_v_TEM(c_s,s17,c_down),
inference(resolution,[],['5495','267']) ).
cnf('5500',plain,
node23(c_s,s17,s18),
inference(resolution,[then_simplify],['5496','5498','5499']) ).
cnf('5501',plain,
node24(c_s,s16,s17),
inference(resolution,[],['1305','3274']) ).
cnf('5502',plain,
( ~ m_state_v_TEM(c_s,s16,c_up)
| ~ m_state_v_botPos(c_s,s17) ),
inference(resolution,[],['5501','1309']) ).
cnf('5503',plain,
~ m_state_v_botPos(c_s,s17),
inference(resolution,[],['5485','5502']) ).
cnf('5504',plain,
~ m_state_v_botPos(c_s,s18),
inference(resolution,[then_simplify],['5500','1339','5503']) ).
cnf('5505',plain,
~ node177(c_s,s18),
inference(resolution,[],['5504','1492']) ).
cnf('5506',plain,
node180(c_s,s18,s19),
inference(resolution,[],['1497','3452']) ).
cnf('5507',plain,
( node179(c_s,s18,s19)
| node176(c_s,s18)
| node177(c_s,s18)
| node178(c_s,s18) ),
inference(resolution,[],['5506','1499']) ).
cnf('5508',plain,
~ node176(c_s,s18),
inference(resolution,[],['5504','1529']) ).
cnf('5509',plain,
node185(c_s,s15,s16),
inference(resolution,[],['1233','2150']) ).
cnf('5510',plain,
( ~ node185(X,Y,Z)
| ~ m_state_v_FBM(X,Y,c_on)
| m_state_v_FBM(X,Z,c_off)
| ~ m_state_v_pfl(X,Y)
| node181(X,Y)
| m_state_v_deliv(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_42]) ).
cnf('5511',plain,
( ~ m_state_v_FBM(c_s,s15,c_on)
| ~ m_state_v_pfl(c_s,s15)
| m_state_v_FBM(c_s,s16,c_off)
| node181(c_s,s15)
| m_state_v_deliv(c_s,s15) ),
inference(resolution,[],['5509','5510']) ).
cnf('5512',plain,
( m_state_v_TEM(X,Y,c_idle)
| ~ node181(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_27]) ).
cnf('5513',plain,
~ node181(c_s,s15),
inference(resolution,[],['5457','5512']) ).
cnf('5514',plain,
~ m_state_v_deliv(c_s,s15),
inference(resolution,[then_simplify],['2144','1519','2145']) ).
cnf('5515',plain,
m_state_v_FBM(c_s,s16,c_off),
inference(resolution,[then_simplify],['2126','5511','3059','5513','5514']) ).
cnf('5516',plain,
~ m_state_v_FBM(c_s,s16,c_on),
inference(resolution,[],['5515','508']) ).
cnf('5517',plain,
~ node13(c_s,s16),
inference(resolution,[],['5516','2159']) ).
cnf('5518',plain,
~ node14(c_s,s16),
inference(resolution,[],['3321','2512']) ).
cnf('5519',plain,
node16(c_s,s16,s17),
inference(resolution,[],['2148','3274']) ).
cnf('5520',plain,
( node15(c_s,s16,s17)
| node13(c_s,s16)
| node14(c_s,s16) ),
inference(resolution,[],['5519','2515']) ).
cnf('5521',plain,
( node15(c_s,s16,s17)
| node13(c_s,s16) ),
inference(resolution,[],['5518','5520']) ).
cnf('5522',plain,
node15(c_s,s16,s17),
inference(resolution,[],['5517','5521']) ).
cnf('5523',plain,
( ~ node15(X,Y,Z)
| ~ m_state_v_ff(X,Y)
| m_state_v_ff(X,Z) ),
inference(cnf_transformation,[],[m_Communication_43]) ).
cnf('5524',plain,
m_state_v_ff(c_s,s16),
inference(resolution,[],['2126','3060']) ).
cnf('5525',plain,
m_state_v_ff(c_s,s17),
inference(resolution,[then_simplify],['5522','5523','5524']) ).
cnf('5526',plain,
( ~ node17(X,Y)
| ~ m_state_v_ff(X,Y) ),
inference(cnf_transformation,[],[m_Sensor_3]) ).
cnf('5527',plain,
~ node17(c_s,s17),
inference(resolution,[],['5525','5526']) ).
cnf('5528',plain,
( m_state_v_TEM(X,Y,c_idle)
| ~ node177(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_11]) ).
cnf('5529',plain,
~ node177(c_s,s15),
inference(resolution,[],['5457','5528']) ).
cnf('5530',plain,
node180(c_s,s15,s16),
inference(resolution,[],['1497','2150']) ).
cnf('5531',plain,
( node179(c_s,s15,s16)
| node176(c_s,s15)
| node177(c_s,s15)
| node178(c_s,s15) ),
inference(resolution,[],['5530','1499']) ).
cnf('5532',plain,
( m_state_v_TEM(X,Y,c_idle)
| ~ node176(X,Y) ),
inference(cnf_transformation,[],[m_FeedBelt_6]) ).
cnf('5533',plain,
~ node176(c_s,s15),
inference(resolution,[],['5457','5532']) ).
cnf('5534',plain,
m_state_v_pfl(c_s,s15),
inference(resolution,[],['2067','3058']) ).
cnf('5535',plain,
~ node178(c_s,s15),
inference(resolution,[],['5534','1514']) ).
cnf('5536',plain,
node179(c_s,s15,s16),
inference(resolution,[then_simplify],['5529','5531','5533','5535']) ).
cnf('5537',plain,
~ m_state_v_deliv(c_s,s16),
inference(resolution,[then_simplify],['5536','1519','5514']) ).
cnf('5538',plain,
~ node178(c_s,s16),
inference(resolution,[],['5537','1541']) ).
cnf('5539',plain,
node180(c_s,s16,s17),
inference(resolution,[],['1497','3274']) ).
cnf('5540',plain,
( node179(c_s,s16,s17)
| node176(c_s,s16)
| node177(c_s,s16)
| node178(c_s,s16) ),
inference(resolution,[],['5539','1499']) ).
cnf('5541',plain,
~ node176(c_s,s16),
inference(resolution,[],['5493','1529']) ).
cnf('5542',plain,
~ node177(c_s,s16),
inference(resolution,[],['5493','1492']) ).
cnf('5543',plain,
node179(c_s,s16,s17),
inference(resolution,[then_simplify],['5538','5540','5541','5542']) ).
cnf('5544',plain,
~ m_state_v_deliv(c_s,s16),
inference(resolution,[then_simplify],['5536','1519','5514']) ).
cnf('5545',plain,
~ m_state_v_deliv(c_s,s17),
inference(resolution,[then_simplify],['5543','1519','5544']) ).
cnf('5546',plain,
~ node18(c_s,s17),
inference(resolution,[],['5545','505']) ).
cnf('5547',plain,
node20(c_s,s17,s18),
inference(resolution,[],['502','3399']) ).
cnf('5548',plain,
( node19(c_s,s17,s18)
| node17(c_s,s17)
| node18(c_s,s17) ),
inference(resolution,[],['5547','504']) ).
cnf('5549',plain,
( node19(c_s,s17,s18)
| node17(c_s,s17) ),
inference(resolution,[],['5546','5548']) ).
cnf('5550',plain,
node19(c_s,s17,s18),
inference(resolution,[],['5527','5549']) ).
cnf('5551',plain,
~ node17(c_s,s16),
inference(resolution,[],['3061','5526']) ).
cnf('5552',plain,
~ node18(c_s,s16),
inference(resolution,[],['5537','505']) ).
cnf('5553',plain,
node20(c_s,s16,s17),
inference(resolution,[],['502','3274']) ).
cnf('5554',plain,
( node19(c_s,s16,s17)
| node17(c_s,s16)
| node18(c_s,s16) ),
inference(resolution,[],['5553','504']) ).
cnf('5555',plain,
( node19(c_s,s16,s17)
| node17(c_s,s16) ),
inference(resolution,[],['5552','5554']) ).
cnf('5556',plain,
node19(c_s,s16,s17),
inference(resolution,[],['5551','5555']) ).
cnf('5557',plain,
node20(c_s,s15,s16),
inference(resolution,[],['502','2150']) ).
cnf('5558',plain,
( ~ m_state_v_FBM(c_s,s15,c_on)
| m_state_v_ff(c_s,s15)
| m_state_v_pfl(c_s,s16)
| m_state_v_deliv(c_s,s15) ),
inference(resolution,[],['5557','2155']) ).
cnf('5559',plain,
~ m_state_v_ff(c_s,s15),
inference(resolution,[then_simplify],['3220','2519','3057']) ).
cnf('5560',plain,
( ~ m_state_v_FBM(c_s,s15,c_on)
| m_state_v_pfl(c_s,s16) ),
inference(resolution,[then_simplify],['2146','5558','5559']) ).
cnf('5561',plain,
m_state_v_pfl(c_s,s16),
inference(resolution,[],['2126','5560']) ).
cnf('5562',plain,
m_state_v_pfl(c_s,s17),
inference(resolution,[then_simplify],['5556','515','5561']) ).
cnf('5563',plain,
m_state_v_pfl(c_s,s18),
inference(resolution,[then_simplify],['5550','515','5562']) ).
cnf('5564',plain,
~ node178(c_s,s18),
inference(resolution,[],['5563','1514']) ).
cnf('5565',plain,
node179(c_s,s18,s19),
inference(resolution,[then_simplify],['5505','5507','5508','5564']) ).
cnf('5566',plain,
~ m_state_v_botPos(c_s,s17),
inference(resolution,[],['5485','5502']) ).
cnf('5567',plain,
~ node177(c_s,s17),
inference(resolution,[],['5566','1492']) ).
cnf('5568',plain,
node180(c_s,s17,s18),
inference(resolution,[],['1497','3399']) ).
cnf('5569',plain,
( node179(c_s,s17,s18)
| node176(c_s,s17)
| node177(c_s,s17)
| node178(c_s,s17) ),
inference(resolution,[],['5568','1499']) ).
cnf('5570',plain,
~ node176(c_s,s17),
inference(resolution,[],['5566','1529']) ).
cnf('5571',plain,
~ node178(c_s,s17),
inference(resolution,[],['5545','1541']) ).
cnf('5572',plain,
node179(c_s,s17,s18),
inference(resolution,[then_simplify],['5567','5569','5570','5571']) ).
cnf('5573',plain,
~ m_state_v_deliv(c_s,s17),
inference(resolution,[then_simplify],['5543','1519','5544']) ).
cnf('5574',plain,
~ m_state_v_deliv(c_s,s18),
inference(resolution,[then_simplify],['5572','1519','5573']) ).
cnf('5575',plain,
~ m_state_v_deliv(c_s,s19),
inference(resolution,[then_simplify],['5565','1519','5574']) ).
cnf('5576',plain,
( m_state_v_deliv(c_s,X)
| ~ node189(X) ),
inference(cnf_transformation,[],[prpty11]) ).
cnf('5577',plain,
~ node189(s19),
inference(resolution,[],['5575','5576']) ).
cnf('5578',plain,
~ node280(s19),
inference(resolution,[then_simplify],['5293','5294','5577']) ).
cnf('5579',plain,
( ~ until281(X)
| xuntil282(X)
| node280(X) ),
inference(cnf_transformation,[],[prpty208]) ).
cnf('5580',plain,
( $pr(loop)
| ~ xuntil282(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty210]) ).
cnf('5581',plain,
( ~ xuntil282(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5580']) ).
cnf('5582',plain,
~ xuntil282(s19),
inference(resolution,[],['3662','5581']) ).
cnf('5583',plain,
~ until281(s19),
inference(resolution,[then_simplify],['5578','5579','5582']) ).
cnf('5584',plain,
( ~ node285(X)
| until281(X)
| node187(X) ),
inference(cnf_transformation,[],[prpty215]) ).
cnf('5585',plain,
( $pr(loop)
| ~ always186(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty3]) ).
cnf('5586',plain,
( ~ always186(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5585']) ).
cnf('5587',plain,
~ always186(s19),
inference(resolution,[],['3662','5586']) ).
cnf('5588',plain,
( ~ node187(X)
| always186(X) ),
inference(cnf_transformation,[],[prpty6]) ).
cnf('5589',plain,
~ node187(s19),
inference(resolution,[],['5587','5588']) ).
cnf('5590',plain,
~ node285(s19),
inference(resolution,[then_simplify],['5583','5584','5589']) ).
cnf('5591',plain,
( ~ until286(X)
| xuntil287(X)
| node285(X) ),
inference(cnf_transformation,[],[prpty216]) ).
cnf('5592',plain,
( $pr(loop)
| ~ xuntil287(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty218]) ).
cnf('5593',plain,
( ~ xuntil287(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5592']) ).
cnf('5594',plain,
~ xuntil287(s19),
inference(resolution,[],['3662','5593']) ).
cnf('5595',plain,
~ until286(s19),
inference(resolution,[then_simplify],['5590','5591','5594']) ).
cnf('5596',plain,
( ~ succ(X,Y)
| ~ xuntil287(X)
| until286(Y) ),
inference(cnf_transformation,[],[prpty217]) ).
cnf('5597',plain,
( ~ xuntil287(s18)
| until286(s19) ),
inference(resolution,[],['3451','5596']) ).
cnf('5598',plain,
~ xuntil287(s18),
inference(resolution,[],['5595','5597']) ).
cnf('5599',plain,
( ~ succ(X,Y)
| ~ xuntil282(X)
| until281(Y) ),
inference(cnf_transformation,[],[prpty209]) ).
cnf('5600',plain,
( ~ xuntil282(s18)
| until281(s19) ),
inference(resolution,[],['3451','5599']) ).
cnf('5601',plain,
~ xuntil282(s18),
inference(resolution,[],['5583','5600']) ).
cnf('5602',plain,
( ~ succ(X,Y)
| ~ xuntil277(X)
| until276(Y) ),
inference(cnf_transformation,[],[prpty201]) ).
cnf('5603',plain,
( ~ xuntil277(s18)
| until276(s19) ),
inference(resolution,[],['3451','5602']) ).
cnf('5604',plain,
~ xuntil277(s18),
inference(resolution,[],['5293','5603']) ).
cnf('5605',plain,
( ~ succ(X,Y)
| ~ xuntil272(X)
| until271(Y) ),
inference(cnf_transformation,[],[prpty193]) ).
cnf('5606',plain,
( ~ xuntil272(s18)
| until271(s19) ),
inference(resolution,[],['3451','5605']) ).
cnf('5607',plain,
~ xuntil272(s18),
inference(resolution,[],['5281','5606']) ).
cnf('5608',plain,
( ~ succ(X,Y)
| ~ xuntil267(X)
| until266(Y) ),
inference(cnf_transformation,[],[prpty185]) ).
cnf('5609',plain,
( ~ xuntil267(s18)
| until266(s19) ),
inference(resolution,[],['3451','5608']) ).
cnf('5610',plain,
~ xuntil267(s18),
inference(resolution,[],['5269','5609']) ).
cnf('5611',plain,
( ~ succ(X,Y)
| ~ xuntil262(X)
| until261(Y) ),
inference(cnf_transformation,[],[prpty177]) ).
cnf('5612',plain,
( ~ xuntil262(s18)
| until261(s19) ),
inference(resolution,[],['3451','5611']) ).
cnf('5613',plain,
~ xuntil262(s18),
inference(resolution,[],['5257','5612']) ).
cnf('5614',plain,
( ~ succ(X,Y)
| ~ xuntil257(X)
| until256(Y) ),
inference(cnf_transformation,[],[prpty169]) ).
cnf('5615',plain,
( ~ xuntil257(s18)
| until256(s19) ),
inference(resolution,[],['3451','5614']) ).
cnf('5616',plain,
~ xuntil257(s18),
inference(resolution,[],['5245','5615']) ).
cnf('5617',plain,
( ~ succ(X,Y)
| ~ xuntil252(X)
| until251(Y) ),
inference(cnf_transformation,[],[prpty161]) ).
cnf('5618',plain,
( ~ xuntil252(s18)
| until251(s19) ),
inference(resolution,[],['3451','5617']) ).
cnf('5619',plain,
~ xuntil252(s18),
inference(resolution,[],['5233','5618']) ).
cnf('5620',plain,
( ~ succ(X,Y)
| ~ xuntil247(X)
| until246(Y) ),
inference(cnf_transformation,[],[prpty153]) ).
cnf('5621',plain,
( ~ xuntil247(s18)
| until246(s19) ),
inference(resolution,[],['3451','5620']) ).
cnf('5622',plain,
~ xuntil247(s18),
inference(resolution,[],['5221','5621']) ).
cnf('5623',plain,
( ~ succ(X,Y)
| ~ xuntil242(X)
| until241(Y) ),
inference(cnf_transformation,[],[prpty145]) ).
cnf('5624',plain,
( ~ xuntil242(s18)
| until241(s19) ),
inference(resolution,[],['3451','5623']) ).
cnf('5625',plain,
~ xuntil242(s18),
inference(resolution,[],['5209','5624']) ).
cnf('5626',plain,
( ~ succ(X,Y)
| ~ xuntil237(X)
| until236(Y) ),
inference(cnf_transformation,[],[prpty137]) ).
cnf('5627',plain,
( ~ xuntil237(s18)
| until236(s19) ),
inference(resolution,[],['3451','5626']) ).
cnf('5628',plain,
~ xuntil237(s18),
inference(resolution,[],['5197','5627']) ).
cnf('5629',plain,
( ~ succ(X,Y)
| ~ xuntil232(X)
| until231(Y) ),
inference(cnf_transformation,[],[prpty129]) ).
cnf('5630',plain,
( ~ xuntil232(s18)
| until231(s19) ),
inference(resolution,[],['3451','5629']) ).
cnf('5631',plain,
~ xuntil232(s18),
inference(resolution,[],['5039','5630']) ).
cnf('5632',plain,
( ~ succ(X,Y)
| ~ xuntil227(X)
| until226(Y) ),
inference(cnf_transformation,[],[prpty121]) ).
cnf('5633',plain,
( ~ xuntil227(s18)
| until226(s19) ),
inference(resolution,[],['3451','5632']) ).
cnf('5634',plain,
~ xuntil227(s18),
inference(resolution,[],['5027','5633']) ).
cnf('5635',plain,
( ~ succ(X,Y)
| ~ xuntil222(X)
| until221(Y) ),
inference(cnf_transformation,[],[prpty113]) ).
cnf('5636',plain,
( ~ xuntil222(s18)
| until221(s19) ),
inference(resolution,[],['3451','5635']) ).
cnf('5637',plain,
~ xuntil222(s18),
inference(resolution,[],['3679','5636']) ).
cnf('5638',plain,
( ~ succ(X,Y)
| ~ xuntil217(X)
| until216(Y) ),
inference(cnf_transformation,[],[prpty105]) ).
cnf('5639',plain,
( ~ xuntil217(s18)
| until216(s19) ),
inference(resolution,[],['3451','5638']) ).
cnf('5640',plain,
~ xuntil217(s18),
inference(resolution,[],['3670','5639']) ).
cnf('5641',plain,
( $pr(loop)
| ~ always214(X)
| ~ last(X) ),
inference(cnf_transformation,[],[prpty99]) ).
cnf('5642',plain,
( ~ always214(s19)
| $pr(loop) ),
inference(resolution,[],['3663','5641']) ).
cnf('5643',plain,
~ always214(s19),
inference(resolution,[],['3662','5642']) ).
cnf('5644',plain,
( ~ trans(X,Y)
| ~ always214(X)
| always214(Y) ),
inference(cnf_transformation,[],[prpty98]) ).
cnf('5645',plain,
( ~ always214(s18)
| always214(s19) ),
inference(resolution,[],['3452','5644']) ).
cnf('5646',plain,
~ always214(s18),
inference(resolution,[],['5643','5645']) ).
cnf('5647',plain,
( ~ node215(X)
| always214(X) ),
inference(cnf_transformation,[],[prpty103]) ).
cnf('5648',plain,
~ node215(s18),
inference(resolution,[],['5646','5647']) ).
cnf('5649',plain,
~ until216(s18),
inference(resolution,[then_simplify],['5640','3667','5648']) ).
cnf('5650',plain,
~ node213(s18),
inference(resolution,[],['3542','3672']) ).
cnf('5651',plain,
~ node220(s18),
inference(resolution,[then_simplify],['5649','3671','5650']) ).
cnf('5652',plain,
~ until221(s18),
inference(resolution,[then_simplify],['5637','3675','5651']) ).
cnf('5653',plain,
~ node211(s18),
inference(resolution,[],['5015','5020']) ).
cnf('5654',plain,
~ node225(s18),
inference(resolution,[then_simplify],['5652','3680','5653']) ).
cnf('5655',plain,
~ until226(s18),
inference(resolution,[then_simplify],['5634','5023','5654']) ).
cnf('5656',plain,
( ~ trans(X,Y)
| ~ always208(X)
| always208(Y) ),
inference(cnf_transformation,[],[prpty76]) ).
cnf('5657',plain,
( ~ always208(s18)
| always208(s19) ),
inference(resolution,[],['3452','5656']) ).
cnf('5658',plain,
~ always208(s18),
inference(resolution,[],['5031','5657']) ).
cnf('5659',plain,
~ node209(s18),
inference(resolution,[],['5658','5032']) ).
cnf('5660',plain,
~ node230(s18),
inference(resolution,[then_simplify],['5655','5028','5659']) ).
cnf('5661',plain,
~ until231(s18),
inference(resolution,[then_simplify],['5631','5035','5660']) ).
cnf('5662',plain,
m_state_v_DBM(c_s,s18,c_run),
inference(resolution,[],['5180','5053']) ).
cnf('5663',plain,
~ always206(s18),
inference(resolution,[then_simplify],['5015','5041','5662']) ).
cnf('5664',plain,
~ node207(s18),
inference(resolution,[],['5663','5190']) ).
cnf('5665',plain,
~ node235(s18),
inference(resolution,[then_simplify],['5661','5040','5664']) ).
cnf('5666',plain,
~ until236(s18),
inference(resolution,[then_simplify],['5628','5193','5665']) ).
cnf('5667',plain,
( ~ trans(X,Y)
| ~ always204(X)
| always204(Y) ),
inference(cnf_transformation,[],[prpty62]) ).
cnf('5668',plain,
( ~ always204(s18)
| always204(s19) ),
inference(resolution,[],['3452','5667']) ).
cnf('5669',plain,
~ always204(s18),
inference(resolution,[],['5201','5668']) ).
cnf('5670',plain,
~ node205(s18),
inference(resolution,[],['5669','5202']) ).
cnf('5671',plain,
~ node240(s18),
inference(resolution,[then_simplify],['5666','5198','5670']) ).
cnf('5672',plain,
~ until241(s18),
inference(resolution,[then_simplify],['5625','5205','5671']) ).
cnf('5673',plain,
( ~ trans(X,Y)
| ~ always202(X)
| always202(Y) ),
inference(cnf_transformation,[],[prpty56]) ).
cnf('5674',plain,
( ~ always202(s18)
| always202(s19) ),
inference(resolution,[],['3452','5673']) ).
cnf('5675',plain,
~ always202(s18),
inference(resolution,[],['5213','5674']) ).
cnf('5676',plain,
~ node203(s18),
inference(resolution,[],['5675','5214']) ).
cnf('5677',plain,
~ node245(s18),
inference(resolution,[then_simplify],['5672','5210','5676']) ).
cnf('5678',plain,
~ until246(s18),
inference(resolution,[then_simplify],['5622','5217','5677']) ).
cnf('5679',plain,
( ~ trans(X,Y)
| ~ always200(X)
| always200(Y) ),
inference(cnf_transformation,[],[prpty50]) ).
cnf('5680',plain,
( ~ always200(s18)
| always200(s19) ),
inference(resolution,[],['3452','5679']) ).
cnf('5681',plain,
~ always200(s18),
inference(resolution,[],['5225','5680']) ).
cnf('5682',plain,
~ node201(s18),
inference(resolution,[],['5681','5226']) ).
cnf('5683',plain,
~ node250(s18),
inference(resolution,[then_simplify],['5678','5222','5682']) ).
cnf('5684',plain,
~ until251(s18),
inference(resolution,[then_simplify],['5619','5229','5683']) ).
cnf('5685',plain,
( ~ trans(X,Y)
| ~ always198(X)
| always198(Y) ),
inference(cnf_transformation,[],[prpty44]) ).
cnf('5686',plain,
( ~ always198(s18)
| always198(s19) ),
inference(resolution,[],['3452','5685']) ).
cnf('5687',plain,
~ always198(s18),
inference(resolution,[],['5237','5686']) ).
cnf('5688',plain,
~ node199(s18),
inference(resolution,[],['5687','5238']) ).
cnf('5689',plain,
~ node255(s18),
inference(resolution,[then_simplify],['5684','5234','5688']) ).
cnf('5690',plain,
~ until256(s18),
inference(resolution,[then_simplify],['5616','5241','5689']) ).
cnf('5691',plain,
( ~ trans(X,Y)
| ~ always196(X)
| always196(Y) ),
inference(cnf_transformation,[],[prpty37]) ).
cnf('5692',plain,
( ~ always196(s18)
| always196(s19) ),
inference(resolution,[],['3452','5691']) ).
cnf('5693',plain,
~ always196(s18),
inference(resolution,[],['5249','5692']) ).
cnf('5694',plain,
~ node197(s18),
inference(resolution,[],['5693','5250']) ).
cnf('5695',plain,
~ node260(s18),
inference(resolution,[then_simplify],['5690','5246','5694']) ).
cnf('5696',plain,
~ until261(s18),
inference(resolution,[then_simplify],['5613','5253','5695']) ).
cnf('5697',plain,
( ~ trans(X,Y)
| ~ always194(X)
| always194(Y) ),
inference(cnf_transformation,[],[prpty30]) ).
cnf('5698',plain,
( ~ always194(s18)
| always194(s19) ),
inference(resolution,[],['3452','5697']) ).
cnf('5699',plain,
~ always194(s18),
inference(resolution,[],['5261','5698']) ).
cnf('5700',plain,
~ node195(s18),
inference(resolution,[],['5699','5262']) ).
cnf('5701',plain,
~ node265(s18),
inference(resolution,[then_simplify],['5696','5258','5700']) ).
cnf('5702',plain,
~ until266(s18),
inference(resolution,[then_simplify],['5610','5265','5701']) ).
cnf('5703',plain,
( ~ trans(X,Y)
| ~ always192(X)
| always192(Y) ),
inference(cnf_transformation,[],[prpty22]) ).
cnf('5704',plain,
( ~ always192(s18)
| always192(s19) ),
inference(resolution,[],['3452','5703']) ).
cnf('5705',plain,
~ always192(s18),
inference(resolution,[],['5273','5704']) ).
cnf('5706',plain,
~ node193(s18),
inference(resolution,[],['5705','5274']) ).
cnf('5707',plain,
~ node270(s18),
inference(resolution,[then_simplify],['5702','5270','5706']) ).
cnf('5708',plain,
~ until271(s18),
inference(resolution,[then_simplify],['5607','5277','5707']) ).
cnf('5709',plain,
( m_state_v_botPos(c_s,X)
| ~ node191(X) ),
inference(cnf_transformation,[],[prpty16]) ).
cnf('5710',plain,
~ node191(s18),
inference(resolution,[],['5504','5709']) ).
cnf('5711',plain,
~ node275(s18),
inference(resolution,[then_simplify],['5708','5282','5710']) ).
cnf('5712',plain,
~ until276(s18),
inference(resolution,[then_simplify],['5604','5289','5711']) ).
cnf('5713',plain,
~ m_state_v_deliv(c_s,s18),
inference(resolution,[then_simplify],['5572','1519','5573']) ).
cnf('5714',plain,
~ node189(s18),
inference(resolution,[],['5713','5576']) ).
cnf('5715',plain,
~ node280(s18),
inference(resolution,[then_simplify],['5712','5294','5714']) ).
cnf('5716',plain,
~ until281(s18),
inference(resolution,[then_simplify],['5601','5579','5715']) ).
cnf('5717',plain,
( ~ node184(c_s,s16,X)
| m_state_v_FBM(c_s,X,c_off) ),
inference(resolution,[],['5515','1984']) ).
cnf('5718',plain,
~ node182(c_s,s16),
inference(resolution,[],['5516','1238']) ).
cnf('5719',plain,
~ node183(c_s,s16),
inference(resolution,[],['5493','1366']) ).
cnf('5720',plain,
node185(c_s,s16,s17),
inference(resolution,[],['1233','3274']) ).
cnf('5721',plain,
( node184(c_s,s16,s17)
| node182(c_s,s16)
| node183(c_s,s16) ),
inference(resolution,[],['5720','1235']) ).
cnf('5722',plain,
( node184(c_s,s16,s17)
| node182(c_s,s16) ),
inference(resolution,[],['5719','5721']) ).
cnf('5723',plain,
node184(c_s,s16,s17),
inference(resolution,[],['5718','5722']) ).
cnf('5724',plain,
m_state_v_FBM(c_s,s17,c_off),
inference(resolution,[],['5717','5723']) ).
cnf('5725',plain,
( ~ node184(c_s,s17,X)
| m_state_v_FBM(c_s,X,c_off) ),
inference(resolution,[],['5724','1984']) ).
cnf('5726',plain,
~ m_state_v_FBM(c_s,s17,c_on),
inference(resolution,[],['5724','508']) ).
cnf('5727',plain,
~ node182(c_s,s17),
inference(resolution,[],['5726','1238']) ).
cnf('5728',plain,
~ node183(c_s,s17),
inference(resolution,[],['5566','1366']) ).
cnf('5729',plain,
node185(c_s,s17,s18),
inference(resolution,[],['1233','3399']) ).
cnf('5730',plain,
( node184(c_s,s17,s18)
| node182(c_s,s17)
| node183(c_s,s17) ),
inference(resolution,[],['5729','1235']) ).
cnf('5731',plain,
( node184(c_s,s17,s18)
| node182(c_s,s17) ),
inference(resolution,[],['5728','5730']) ).
cnf('5732',plain,
node184(c_s,s17,s18),
inference(resolution,[],['5727','5731']) ).
cnf('5733',plain,
m_state_v_FBM(c_s,s18,c_off),
inference(resolution,[],['5725','5732']) ).
cnf('5734',plain,
~ m_state_v_FBM(c_s,s18,c_on),
inference(resolution,[],['5733','508']) ).
cnf('5735',plain,
( m_state_v_FBM(c_s,X,c_on)
| ~ node187(X) ),
inference(cnf_transformation,[],[prpty4]) ).
cnf('5736',plain,
~ node187(s18),
inference(resolution,[],['5734','5735']) ).
cnf('5737',plain,
~ node285(s18),
inference(resolution,[then_simplify],['5716','5584','5736']) ).
cnf('5738',plain,
~ until286(s18),
inference(resolution,[then_simplify],['5598','5591','5737']) ).
cnf('5739',plain,
( ~ xuntil287(s17)
| until286(s18) ),
inference(resolution,[],['3398','5596']) ).
cnf('5740',plain,
~ xuntil287(s17),
inference(resolution,[],['5738','5739']) ).
cnf('5741',plain,
( ~ xuntil282(s17)
| until281(s18) ),
inference(resolution,[],['3398','5599']) ).
cnf('5742',plain,
~ xuntil282(s17),
inference(resolution,[],['5716','5741']) ).
cnf('5743',plain,
( ~ xuntil277(s17)
| until276(s18) ),
inference(resolution,[],['3398','5602']) ).
cnf('5744',plain,
~ xuntil277(s17),
inference(resolution,[],['5712','5743']) ).
cnf('5745',plain,
( ~ xuntil272(s17)
| until271(s18) ),
inference(resolution,[],['3398','5605']) ).
cnf('5746',plain,
~ xuntil272(s17),
inference(resolution,[],['5708','5745']) ).
cnf('5747',plain,
( ~ xuntil267(s17)
| until266(s18) ),
inference(resolution,[],['3398','5608']) ).
cnf('5748',plain,
~ xuntil267(s17),
inference(resolution,[],['5702','5747']) ).
cnf('5749',plain,
( ~ xuntil262(s17)
| until261(s18) ),
inference(resolution,[],['3398','5611']) ).
cnf('5750',plain,
~ xuntil262(s17),
inference(resolution,[],['5696','5749']) ).
cnf('5751',plain,
( ~ xuntil257(s17)
| until256(s18) ),
inference(resolution,[],['3398','5614']) ).
cnf('5752',plain,
~ xuntil257(s17),
inference(resolution,[],['5690','5751']) ).
cnf('5753',plain,
( ~ xuntil252(s17)
| until251(s18) ),
inference(resolution,[],['3398','5617']) ).
cnf('5754',plain,
~ xuntil252(s17),
inference(resolution,[],['5684','5753']) ).
cnf('5755',plain,
( ~ xuntil247(s17)
| until246(s18) ),
inference(resolution,[],['3398','5620']) ).
cnf('5756',plain,
~ xuntil247(s17),
inference(resolution,[],['5678','5755']) ).
cnf('5757',plain,
( ~ xuntil242(s17)
| until241(s18) ),
inference(resolution,[],['3398','5623']) ).
cnf('5758',plain,
~ xuntil242(s17),
inference(resolution,[],['5672','5757']) ).
cnf('5759',plain,
( ~ xuntil237(s17)
| until236(s18) ),
inference(resolution,[],['3398','5626']) ).
cnf('5760',plain,
~ xuntil237(s17),
inference(resolution,[],['5666','5759']) ).
cnf('5761',plain,
( ~ xuntil232(s17)
| until231(s18) ),
inference(resolution,[],['3398','5629']) ).
cnf('5762',plain,
~ xuntil232(s17),
inference(resolution,[],['5661','5761']) ).
cnf('5763',plain,
( ~ xuntil227(s17)
| until226(s18) ),
inference(resolution,[],['3398','5632']) ).
cnf('5764',plain,
~ xuntil227(s17),
inference(resolution,[],['5655','5763']) ).
cnf('5765',plain,
( ~ xuntil222(s17)
| until221(s18) ),
inference(resolution,[],['3398','5635']) ).
cnf('5766',plain,
~ xuntil222(s17),
inference(resolution,[],['5652','5765']) ).
cnf('5767',plain,
( ~ xuntil217(s17)
| until216(s18) ),
inference(resolution,[],['3398','5638']) ).
cnf('5768',plain,
~ xuntil217(s17),
inference(resolution,[],['5649','5767']) ).
cnf('5769',plain,
( m_state_v_gvp(c_s,X,c_ovf)
| ~ node215(X) ),
inference(cnf_transformation,[],[prpty101]) ).
cnf('5770',plain,
~ node215(s17),
inference(resolution,[],['3444','5769']) ).
cnf('5771',plain,
~ until216(s17),
inference(resolution,[then_simplify],['5768','3667','5770']) ).
cnf('5772',plain,
~ node213(s17),
inference(resolution,[],['3484','3672']) ).
cnf('5773',plain,
~ node220(s17),
inference(resolution,[then_simplify],['5771','3671','5772']) ).
cnf('5774',plain,
~ until221(s17),
inference(resolution,[then_simplify],['5766','3675','5773']) ).
cnf('5775',plain,
~ node211(s17),
inference(resolution,[],['4988','5020']) ).
cnf('5776',plain,
~ node225(s17),
inference(resolution,[then_simplify],['5774','3680','5775']) ).
cnf('5777',plain,
~ until226(s17),
inference(resolution,[then_simplify],['5764','5023','5776']) ).
cnf('5778',plain,
( ~ always208(s17)
| always208(s18) ),
inference(resolution,[],['3399','5656']) ).
cnf('5779',plain,
~ always208(s17),
inference(resolution,[],['5658','5778']) ).
cnf('5780',plain,
~ node209(s17),
inference(resolution,[],['5779','5032']) ).
cnf('5781',plain,
~ node230(s17),
inference(resolution,[then_simplify],['5777','5028','5780']) ).
cnf('5782',plain,
~ until231(s17),
inference(resolution,[then_simplify],['5762','5035','5781']) ).
cnf('5783',plain,
m_state_v_DBM(c_s,s17,c_run),
inference(resolution,[],['5172','5053']) ).
cnf('5784',plain,
~ always206(s17),
inference(resolution,[then_simplify],['4988','5041','5783']) ).
cnf('5785',plain,
~ node207(s17),
inference(resolution,[],['5784','5190']) ).
cnf('5786',plain,
~ node235(s17),
inference(resolution,[then_simplify],['5782','5040','5785']) ).
cnf('5787',plain,
~ until236(s17),
inference(resolution,[then_simplify],['5760','5193','5786']) ).
cnf('5788',plain,
~ m_state_v_A2M(c_s,s15,c_extend),
inference(resolution,[],['4525','4306']) ).
cnf('5789',plain,
~ node34(c_s,s15),
inference(resolution,[],['5788','647']) ).
cnf('5790',plain,
node36(c_s,s15,s16),
inference(resolution,[],['294','2150']) ).
cnf('5791',plain,
( ~ m_state_v_A2M(c_s,s15,c_retract)
| m_state_v_a2ext(c_s,s16,c_retracted)
| node33(c_s,s15)
| node34(c_s,s15) ),
inference(resolution,[],['5790','4520']) ).
cnf('5792',plain,
~ node33(c_s,s15),
inference(resolution,[],['5788','301']) ).
cnf('5793',plain,
m_state_v_a2ext(c_s,s16,c_retracted),
inference(resolution,[then_simplify],['5789','5791','4517','5792']) ).
cnf('5794',plain,
( ~ node35(c_s,s16,X)
| m_state_v_a2ext(c_s,X,c_retracted) ),
inference(resolution,[],['5793','430']) ).
cnf('5795',plain,
~ m_state_v_A2M(c_s,s16,c_extend),
inference(resolution,[],['4536','299']) ).
cnf('5796',plain,
~ node34(c_s,s16),
inference(resolution,[],['5795','647']) ).
cnf('5797',plain,
node36(c_s,s16,s17),
inference(resolution,[],['294','3274']) ).
cnf('5798',plain,
( m_state_v_A2M(c_s,s16,c_retract)
| node35(c_s,s16,s17)
| node33(c_s,s16)
| node34(c_s,s16) ),
inference(resolution,[],['5797','296']) ).
cnf('5799',plain,
~ m_state_v_A2M(c_s,s16,c_retract),
inference(resolution,[],['4536','36']) ).
cnf('5800',plain,
~ node33(c_s,s16),
inference(resolution,[],['5795','301']) ).
cnf('5801',plain,
node35(c_s,s16,s17),
inference(resolution,[then_simplify],['5796','5798','5799','5800']) ).
cnf('5802',plain,
m_state_v_a2ext(c_s,s17,c_retracted),
inference(resolution,[],['5794','5801']) ).
cnf('5803',plain,
~ m_state_v_a2ext(c_s,s17,c_a2ip),
inference(resolution,[],['5802','313']) ).
cnf('5804',plain,
( m_state_v_a2ext(c_s,X,c_a2ip)
| ~ node205(X) ),
inference(cnf_transformation,[],[prpty66]) ).
cnf('5805',plain,
~ node205(s17),
inference(resolution,[],['5803','5804']) ).
cnf('5806',plain,
~ node240(s17),
inference(resolution,[then_simplify],['5787','5198','5805']) ).
cnf('5807',plain,
~ until241(s17),
inference(resolution,[then_simplify],['5758','5205','5806']) ).
cnf('5808',plain,
( ~ always202(s17)
| always202(s18) ),
inference(resolution,[],['3399','5673']) ).
cnf('5809',plain,
~ always202(s17),
inference(resolution,[],['5675','5808']) ).
cnf('5810',plain,
~ node203(s17),
inference(resolution,[],['5809','5214']) ).
cnf('5811',plain,
~ node245(s17),
inference(resolution,[then_simplify],['5807','5210','5810']) ).
cnf('5812',plain,
~ until246(s17),
inference(resolution,[then_simplify],['5756','5217','5811']) ).
cnf('5813',plain,
m_state_v_PM(c_s,s10,c_idle),
inference(resolution,[],['4131','4166']) ).
cnf('5814',plain,
( ~ node120(c_s,s10,X)
| m_state_v_PM(c_s,X,c_idle) ),
inference(resolution,[],['5813','4128']) ).
cnf('5815',plain,
~ m_state_v_PM(c_s,s10,c_down),
inference(resolution,[],['5813','730']) ).
cnf('5816',plain,
~ node119(c_s,s10),
inference(resolution,[],['5815','732']) ).
cnf('5817',plain,
m_state_v_pl(c_s,s10),
inference(resolution,[then_simplify],['4206','793','4207']) ).
cnf('5818',plain,
~ node114(c_s,s10),
inference(resolution,[],['5817','743']) ).
cnf('5819',plain,
node121(c_s,s10,s11),
inference(resolution,[],['727','1610']) ).
cnf('5820',plain,
( node120(c_s,s10,s11)
| node114(c_s,s10)
| node115(c_s,s10)
| node116(c_s,s10)
| node117(c_s,s10)
| node118(c_s,s10)
| node119(c_s,s10) ),
inference(resolution,[],['5819','729']) ).
cnf('5821',plain,
~ node53(c_s,s9),
inference(resolution,[],['4210','254']) ).
cnf('5822',plain,
~ node54(c_s,s9),
inference(resolution,[],['4153','248']) ).
cnf('5823',plain,
node56(c_s,s9,s10),
inference(resolution,[],['245','1214']) ).
cnf('5824',plain,
( node55(c_s,s9,s10)
| node53(c_s,s9)
| node54(c_s,s9) ),
inference(resolution,[],['5823','247']) ).
cnf('5825',plain,
( node55(c_s,s9,s10)
| node53(c_s,s9) ),
inference(resolution,[],['5822','5824']) ).
cnf('5826',plain,
node55(c_s,s9,s10),
inference(resolution,[],['5821','5825']) ).
cnf('5827',plain,
~ m_state_v_midPosP(c_s,s9),
inference(resolution,[then_simplify],['4151','258','4152']) ).
cnf('5828',plain,
~ m_state_v_midPosP(c_s,s10),
inference(resolution,[then_simplify],['5826','258','5827']) ).
cnf('5829',plain,
~ node115(c_s,s10),
inference(resolution,[],['5828','781']) ).
cnf('5830',plain,
~ node116(c_s,s10),
inference(resolution,[],['5828','739']) ).
cnf('5831',plain,
~ node50(c_s,s9),
inference(resolution,[],['4153','770']) ).
cnf('5832',plain,
~ node49(c_s,s9),
inference(resolution,[],['4163','772']) ).
cnf('5833',plain,
node52(c_s,s9,s10),
inference(resolution,[],['767','1214']) ).
cnf('5834',plain,
( node51(c_s,s9,s10)
| node49(c_s,s9)
| node50(c_s,s9) ),
inference(resolution,[],['5833','769']) ).
cnf('5835',plain,
( node51(c_s,s9,s10)
| node50(c_s,s9) ),
inference(resolution,[],['5832','5834']) ).
cnf('5836',plain,
node51(c_s,s9,s10),
inference(resolution,[],['5831','5835']) ).
cnf('5837',plain,
~ m_state_v_topPosP(c_s,s9),
inference(resolution,[then_simplify],['4161','776','4162']) ).
cnf('5838',plain,
~ m_state_v_topPosP(c_s,s10),
inference(resolution,[then_simplify],['5836','776','5837']) ).
cnf('5839',plain,
~ node117(c_s,s10),
inference(resolution,[],['5838','737']) ).
cnf('5840',plain,
~ node118(c_s,s10),
inference(resolution,[],['5838','734']) ).
cnf('5841',plain,
( node120(c_s,s10,s11)
| node119(c_s,s10) ),
inference(resolution,[then_simplify],['5818','5820','5829','5830','5839','5840']) ).
cnf('5842',plain,
node120(c_s,s10,s11),
inference(resolution,[],['5816','5841']) ).
cnf('5843',plain,
m_state_v_PM(c_s,s11,c_idle),
inference(resolution,[],['5814','5842']) ).
cnf('5844',plain,
( ~ node120(c_s,s11,X)
| m_state_v_PM(c_s,X,c_idle) ),
inference(resolution,[],['5843','4128']) ).
cnf('5845',plain,
~ m_state_v_PM(c_s,s11,c_down),
inference(resolution,[],['5843','730']) ).
cnf('5846',plain,
~ node119(c_s,s11),
inference(resolution,[],['5845','732']) ).
cnf('5847',plain,
~ node161(c_s,s10),
inference(resolution,[],['3810','787']) ).
cnf('5848',plain,
~ node160(c_s,s10),
inference(resolution,[],['4008','789']) ).
cnf('5849',plain,
node163(c_s,s10,s11),
inference(resolution,[],['784','1610']) ).
cnf('5850',plain,
( node162(c_s,s10,s11)
| node160(c_s,s10)
| node161(c_s,s10) ),
inference(resolution,[],['5849','786']) ).
cnf('5851',plain,
( node162(c_s,s10,s11)
| node161(c_s,s10) ),
inference(resolution,[],['5848','5850']) ).
cnf('5852',plain,
node162(c_s,s10,s11),
inference(resolution,[],['5847','5851']) ).
cnf('5853',plain,
m_state_v_pl(c_s,s11),
inference(resolution,[then_simplify],['5852','793','4208']) ).
cnf('5854',plain,
~ node114(c_s,s11),
inference(resolution,[],['5853','743']) ).
cnf('5855',plain,
node121(c_s,s11,s12),
inference(resolution,[],['727','1940']) ).
cnf('5856',plain,
( node120(c_s,s11,s12)
| node114(c_s,s11)
| node115(c_s,s11)
| node116(c_s,s11)
| node117(c_s,s11)
| node118(c_s,s11)
| node119(c_s,s11) ),
inference(resolution,[],['5855','729']) ).
cnf('5857',plain,
~ m_state_v_PM(c_s,s10,c_up),
inference(resolution,[],['5813','251']) ).
cnf('5858',plain,
~ node53(c_s,s10),
inference(resolution,[],['5857','254']) ).
cnf('5859',plain,
~ node54(c_s,s10),
inference(resolution,[],['5828','248']) ).
cnf('5860',plain,
node56(c_s,s10,s11),
inference(resolution,[],['245','1610']) ).
cnf('5861',plain,
( node55(c_s,s10,s11)
| node53(c_s,s10)
| node54(c_s,s10) ),
inference(resolution,[],['5860','247']) ).
cnf('5862',plain,
( node55(c_s,s10,s11)
| node53(c_s,s10) ),
inference(resolution,[],['5859','5861']) ).
cnf('5863',plain,
node55(c_s,s10,s11),
inference(resolution,[],['5858','5862']) ).
cnf('5864',plain,
~ m_state_v_midPosP(c_s,s10),
inference(resolution,[then_simplify],['5826','258','5827']) ).
cnf('5865',plain,
~ m_state_v_midPosP(c_s,s11),
inference(resolution,[then_simplify],['5863','258','5864']) ).
cnf('5866',plain,
~ node115(c_s,s11),
inference(resolution,[],['5865','781']) ).
cnf('5867',plain,
~ node116(c_s,s11),
inference(resolution,[],['5865','739']) ).
cnf('5868',plain,
~ node50(c_s,s10),
inference(resolution,[],['5828','770']) ).
cnf('5869',plain,
~ node49(c_s,s10),
inference(resolution,[],['5838','772']) ).
cnf('5870',plain,
node52(c_s,s10,s11),
inference(resolution,[],['767','1610']) ).
cnf('5871',plain,
( node51(c_s,s10,s11)
| node49(c_s,s10)
| node50(c_s,s10) ),
inference(resolution,[],['5870','769']) ).
cnf('5872',plain,
( node51(c_s,s10,s11)
| node50(c_s,s10) ),
inference(resolution,[],['5869','5871']) ).
cnf('5873',plain,
node51(c_s,s10,s11),
inference(resolution,[],['5868','5872']) ).
cnf('5874',plain,
~ m_state_v_topPosP(c_s,s10),
inference(resolution,[then_simplify],['5836','776','5837']) ).
cnf('5875',plain,
~ m_state_v_topPosP(c_s,s11),
inference(resolution,[then_simplify],['5873','776','5874']) ).
cnf('5876',plain,
~ node117(c_s,s11),
inference(resolution,[],['5875','737']) ).
cnf('5877',plain,
~ node118(c_s,s11),
inference(resolution,[],['5875','734']) ).
cnf('5878',plain,
( node120(c_s,s11,s12)
| node119(c_s,s11) ),
inference(resolution,[then_simplify],['5854','5856','5866','5867','5876','5877']) ).
cnf('5879',plain,
node120(c_s,s11,s12),
inference(resolution,[],['5846','5878']) ).
cnf('5880',plain,
m_state_v_PM(c_s,s12,c_idle),
inference(resolution,[],['5844','5879']) ).
cnf('5881',plain,
( ~ node120(c_s,s12,X)
| m_state_v_PM(c_s,X,c_idle) ),
inference(resolution,[],['5880','4128']) ).
cnf('5882',plain,
~ m_state_v_PM(c_s,s12,c_down),
inference(resolution,[],['5880','730']) ).
cnf('5883',plain,
~ node119(c_s,s12),
inference(resolution,[],['5882','732']) ).
cnf('5884',plain,
~ node161(c_s,s11),
inference(resolution,[],['4040','787']) ).
cnf('5885',plain,
~ node160(c_s,s11),
inference(resolution,[],['4307','789']) ).
cnf('5886',plain,
node163(c_s,s11,s12),
inference(resolution,[],['784','1940']) ).
cnf('5887',plain,
( node162(c_s,s11,s12)
| node160(c_s,s11)
| node161(c_s,s11) ),
inference(resolution,[],['5886','786']) ).
cnf('5888',plain,
( node162(c_s,s11,s12)
| node161(c_s,s11) ),
inference(resolution,[],['5885','5887']) ).
cnf('5889',plain,
node162(c_s,s11,s12),
inference(resolution,[],['5884','5888']) ).
cnf('5890',plain,
m_state_v_pl(c_s,s11),
inference(resolution,[then_simplify],['5852','793','4208']) ).
cnf('5891',plain,
m_state_v_pl(c_s,s12),
inference(resolution,[then_simplify],['5889','793','5890']) ).
cnf('5892',plain,
~ node114(c_s,s12),
inference(resolution,[],['5891','743']) ).
cnf('5893',plain,
node121(c_s,s12,s13),
inference(resolution,[],['727','2036']) ).
cnf('5894',plain,
( node120(c_s,s12,s13)
| node114(c_s,s12)
| node115(c_s,s12)
| node116(c_s,s12)
| node117(c_s,s12)
| node118(c_s,s12)
| node119(c_s,s12) ),
inference(resolution,[],['5893','729']) ).
cnf('5895',plain,
~ m_state_v_PM(c_s,s11,c_up),
inference(resolution,[],['5843','251']) ).
cnf('5896',plain,
~ node53(c_s,s11),
inference(resolution,[],['5895','254']) ).
cnf('5897',plain,
~ node54(c_s,s11),
inference(resolution,[],['5865','248']) ).
cnf('5898',plain,
node56(c_s,s11,s12),
inference(resolution,[],['245','1940']) ).
cnf('5899',plain,
( node55(c_s,s11,s12)
| node53(c_s,s11)
| node54(c_s,s11) ),
inference(resolution,[],['5898','247']) ).
cnf('5900',plain,
( node55(c_s,s11,s12)
| node53(c_s,s11) ),
inference(resolution,[],['5897','5899']) ).
cnf('5901',plain,
node55(c_s,s11,s12),
inference(resolution,[],['5896','5900']) ).
cnf('5902',plain,
~ m_state_v_midPosP(c_s,s11),
inference(resolution,[then_simplify],['5863','258','5864']) ).
cnf('5903',plain,
~ m_state_v_midPosP(c_s,s12),
inference(resolution,[then_simplify],['5901','258','5902']) ).
cnf('5904',plain,
~ node115(c_s,s12),
inference(resolution,[],['5903','781']) ).
cnf('5905',plain,
~ node116(c_s,s12),
inference(resolution,[],['5903','739']) ).
cnf('5906',plain,
~ node50(c_s,s11),
inference(resolution,[],['5865','770']) ).
cnf('5907',plain,
~ node49(c_s,s11),
inference(resolution,[],['5875','772']) ).
cnf('5908',plain,
node52(c_s,s11,s12),
inference(resolution,[],['767','1940']) ).
cnf('5909',plain,
( node51(c_s,s11,s12)
| node49(c_s,s11)
| node50(c_s,s11) ),
inference(resolution,[],['5908','769']) ).
cnf('5910',plain,
( node51(c_s,s11,s12)
| node50(c_s,s11) ),
inference(resolution,[],['5907','5909']) ).
cnf('5911',plain,
node51(c_s,s11,s12),
inference(resolution,[],['5906','5910']) ).
cnf('5912',plain,
~ m_state_v_topPosP(c_s,s11),
inference(resolution,[then_simplify],['5873','776','5874']) ).
cnf('5913',plain,
~ m_state_v_topPosP(c_s,s12),
inference(resolution,[then_simplify],['5911','776','5912']) ).
cnf('5914',plain,
~ node117(c_s,s12),
inference(resolution,[],['5913','737']) ).
cnf('5915',plain,
~ node118(c_s,s12),
inference(resolution,[],['5913','734']) ).
cnf('5916',plain,
( node120(c_s,s12,s13)
| node119(c_s,s12) ),
inference(resolution,[then_simplify],['5892','5894','5904','5905','5914','5915']) ).
cnf('5917',plain,
node120(c_s,s12,s13),
inference(resolution,[],['5883','5916']) ).
cnf('5918',plain,
m_state_v_PM(c_s,s13,c_idle),
inference(resolution,[],['5881','5917']) ).
cnf('5919',plain,
( ~ node120(c_s,s13,X)
| m_state_v_PM(c_s,X,c_idle) ),
inference(resolution,[],['5918','4128']) ).
cnf('5920',plain,
~ m_state_v_PM(c_s,s13,c_down),
inference(resolution,[],['5918','730']) ).
cnf('5921',plain,
~ node119(c_s,s13),
inference(resolution,[],['5920','732']) ).
cnf('5922',plain,
~ node161(c_s,s12),
inference(resolution,[],['4337','787']) ).
cnf('5923',plain,
( m_state_v_a2ext(X,Y,c_retracted)
| ~ node160(X,Y) ),
inference(cnf_transformation,[],[m_Robot_189]) ).
cnf('5924',plain,
~ node160(c_s,s12),
inference(resolution,[],['4344','5923']) ).
cnf('5925',plain,
node163(c_s,s12,s13),
inference(resolution,[],['784','2036']) ).
cnf('5926',plain,
( node162(c_s,s12,s13)
| node160(c_s,s12)
| node161(c_s,s12) ),
inference(resolution,[],['5925','786']) ).
cnf('5927',plain,
( node162(c_s,s12,s13)
| node161(c_s,s12) ),
inference(resolution,[],['5924','5926']) ).
cnf('5928',plain,
node162(c_s,s12,s13),
inference(resolution,[],['5922','5927']) ).
cnf('5929',plain,
m_state_v_pl(c_s,s12),
inference(resolution,[then_simplify],['5889','793','5890']) ).
cnf('5930',plain,
m_state_v_pl(c_s,s13),
inference(resolution,[then_simplify],['5928','793','5929']) ).
cnf('5931',plain,
~ node114(c_s,s13),
inference(resolution,[],['5930','743']) ).
cnf('5932',plain,
node121(c_s,s13,s14),
inference(resolution,[],['727','2062']) ).
cnf('5933',plain,
( node120(c_s,s13,s14)
| node114(c_s,s13)
| node115(c_s,s13)
| node116(c_s,s13)
| node117(c_s,s13)
| node118(c_s,s13)
| node119(c_s,s13) ),
inference(resolution,[],['5932','729']) ).
cnf('5934',plain,
~ m_state_v_PM(c_s,s12,c_up),
inference(resolution,[],['5880','251']) ).
cnf('5935',plain,
~ node53(c_s,s12),
inference(resolution,[],['5934','254']) ).
cnf('5936',plain,
~ node54(c_s,s12),
inference(resolution,[],['5903','248']) ).
cnf('5937',plain,
node56(c_s,s12,s13),
inference(resolution,[],['245','2036']) ).
cnf('5938',plain,
( node55(c_s,s12,s13)
| node53(c_s,s12)
| node54(c_s,s12) ),
inference(resolution,[],['5937','247']) ).
cnf('5939',plain,
( node55(c_s,s12,s13)
| node53(c_s,s12) ),
inference(resolution,[],['5936','5938']) ).
cnf('5940',plain,
node55(c_s,s12,s13),
inference(resolution,[],['5935','5939']) ).
cnf('5941',plain,
~ m_state_v_midPosP(c_s,s12),
inference(resolution,[then_simplify],['5901','258','5902']) ).
cnf('5942',plain,
~ m_state_v_midPosP(c_s,s13),
inference(resolution,[then_simplify],['5940','258','5941']) ).
cnf('5943',plain,
~ node115(c_s,s13),
inference(resolution,[],['5942','781']) ).
cnf('5944',plain,
~ node116(c_s,s13),
inference(resolution,[],['5942','739']) ).
cnf('5945',plain,
~ node50(c_s,s12),
inference(resolution,[],['5903','770']) ).
cnf('5946',plain,
~ node49(c_s,s12),
inference(resolution,[],['5913','772']) ).
cnf('5947',plain,
node52(c_s,s12,s13),
inference(resolution,[],['767','2036']) ).
cnf('5948',plain,
( node51(c_s,s12,s13)
| node49(c_s,s12)
| node50(c_s,s12) ),
inference(resolution,[],['5947','769']) ).
cnf('5949',plain,
( node51(c_s,s12,s13)
| node50(c_s,s12) ),
inference(resolution,[],['5946','5948']) ).
cnf('5950',plain,
node51(c_s,s12,s13),
inference(resolution,[],['5945','5949']) ).
cnf('5951',plain,
~ m_state_v_topPosP(c_s,s12),
inference(resolution,[then_simplify],['5911','776','5912']) ).
cnf('5952',plain,
~ m_state_v_topPosP(c_s,s13),
inference(resolution,[then_simplify],['5950','776','5951']) ).
cnf('5953',plain,
~ node117(c_s,s13),
inference(resolution,[],['5952','737']) ).
cnf('5954',plain,
~ node118(c_s,s13),
inference(resolution,[],['5952','734']) ).
cnf('5955',plain,
( node120(c_s,s13,s14)
| node119(c_s,s13) ),
inference(resolution,[then_simplify],['5931','5933','5943','5944','5953','5954']) ).
cnf('5956',plain,
node120(c_s,s13,s14),
inference(resolution,[],['5921','5955']) ).
cnf('5957',plain,
m_state_v_PM(c_s,s14,c_idle),
inference(resolution,[],['5919','5956']) ).
cnf('5958',plain,
( ~ node120(c_s,s14,X)
| m_state_v_PM(c_s,X,c_idle) ),
inference(resolution,[],['5957','4128']) ).
cnf('5959',plain,
~ m_state_v_PM(c_s,s14,c_down),
inference(resolution,[],['5957','730']) ).
cnf('5960',plain,
~ node119(c_s,s14),
inference(resolution,[],['5959','732']) ).
cnf('5961',plain,
~ node161(c_s,s13),
inference(resolution,[],['4402','787']) ).
cnf('5962',plain,
~ node160(c_s,s13),
inference(resolution,[],['4443','789']) ).
cnf('5963',plain,
node163(c_s,s13,s14),
inference(resolution,[],['784','2062']) ).
cnf('5964',plain,
( node162(c_s,s13,s14)
| node160(c_s,s13)
| node161(c_s,s13) ),
inference(resolution,[],['5963','786']) ).
cnf('5965',plain,
( node162(c_s,s13,s14)
| node161(c_s,s13) ),
inference(resolution,[],['5962','5964']) ).
cnf('5966',plain,
node162(c_s,s13,s14),
inference(resolution,[],['5961','5965']) ).
cnf('5967',plain,
m_state_v_pl(c_s,s13),
inference(resolution,[then_simplify],['5928','793','5929']) ).
cnf('5968',plain,
m_state_v_pl(c_s,s14),
inference(resolution,[then_simplify],['5966','793','5967']) ).
cnf('5969',plain,
~ node114(c_s,s14),
inference(resolution,[],['5968','743']) ).
cnf('5970',plain,
node121(c_s,s14,s15),
inference(resolution,[],['727','2121']) ).
cnf('5971',plain,
( node120(c_s,s14,s15)
| node114(c_s,s14)
| node115(c_s,s14)
| node116(c_s,s14)
| node117(c_s,s14)
| node118(c_s,s14)
| node119(c_s,s14) ),
inference(resolution,[],['5970','729']) ).
cnf('5972',plain,
~ m_state_v_PM(c_s,s13,c_up),
inference(resolution,[],['5918','251']) ).
cnf('5973',plain,
~ node53(c_s,s13),
inference(resolution,[],['5972','254']) ).
cnf('5974',plain,
~ node54(c_s,s13),
inference(resolution,[],['5942','248']) ).
cnf('5975',plain,
node56(c_s,s13,s14),
inference(resolution,[],['245','2062']) ).
cnf('5976',plain,
( node55(c_s,s13,s14)
| node53(c_s,s13)
| node54(c_s,s13) ),
inference(resolution,[],['5975','247']) ).
cnf('5977',plain,
( node55(c_s,s13,s14)
| node53(c_s,s13) ),
inference(resolution,[],['5974','5976']) ).
cnf('5978',plain,
node55(c_s,s13,s14),
inference(resolution,[],['5973','5977']) ).
cnf('5979',plain,
~ m_state_v_midPosP(c_s,s13),
inference(resolution,[then_simplify],['5940','258','5941']) ).
cnf('5980',plain,
~ m_state_v_midPosP(c_s,s14),
inference(resolution,[then_simplify],['5978','258','5979']) ).
cnf('5981',plain,
~ node115(c_s,s14),
inference(resolution,[],['5980','781']) ).
cnf('5982',plain,
~ node116(c_s,s14),
inference(resolution,[],['5980','739']) ).
cnf('5983',plain,
~ node50(c_s,s13),
inference(resolution,[],['5942','770']) ).
cnf('5984',plain,
~ node49(c_s,s13),
inference(resolution,[],['5952','772']) ).
cnf('5985',plain,
node52(c_s,s13,s14),
inference(resolution,[],['767','2062']) ).
cnf('5986',plain,
( node51(c_s,s13,s14)
| node49(c_s,s13)
| node50(c_s,s13) ),
inference(resolution,[],['5985','769']) ).
cnf('5987',plain,
( node51(c_s,s13,s14)
| node50(c_s,s13) ),
inference(resolution,[],['5984','5986']) ).
cnf('5988',plain,
node51(c_s,s13,s14),
inference(resolution,[],['5983','5987']) ).
cnf('5989',plain,
~ m_state_v_topPosP(c_s,s13),
inference(resolution,[then_simplify],['5950','776','5951']) ).
cnf('5990',plain,
~ m_state_v_topPosP(c_s,s14),
inference(resolution,[then_simplify],['5988','776','5989']) ).
cnf('5991',plain,
~ node117(c_s,s14),
inference(resolution,[],['5990','737']) ).
cnf('5992',plain,
~ node118(c_s,s14),
inference(resolution,[],['5990','734']) ).
cnf('5993',plain,
( node120(c_s,s14,s15)
| node119(c_s,s14) ),
inference(resolution,[then_simplify],['5969','5971','5981','5982','5991','5992']) ).
cnf('5994',plain,
node120(c_s,s14,s15),
inference(resolution,[],['5960','5993']) ).
cnf('5995',plain,
m_state_v_PM(c_s,s15,c_idle),
inference(resolution,[],['5958','5994']) ).
cnf('5996',plain,
~ m_state_v_PM(c_s,s15,c_up),
inference(resolution,[],['5995','251']) ).
cnf('5997',plain,
~ node53(c_s,s15),
inference(resolution,[],['5996','254']) ).
cnf('5998',plain,
~ m_state_v_PM(c_s,s14,c_up),
inference(resolution,[],['5957','251']) ).
cnf('5999',plain,
~ node53(c_s,s14),
inference(resolution,[],['5998','254']) ).
cnf('6000',plain,
~ node54(c_s,s14),
inference(resolution,[],['5980','248']) ).
cnf('6001',plain,
node56(c_s,s14,s15),
inference(resolution,[],['245','2121']) ).
cnf('6002',plain,
( node55(c_s,s14,s15)
| node53(c_s,s14)
| node54(c_s,s14) ),
inference(resolution,[],['6001','247']) ).
cnf('6003',plain,
( node55(c_s,s14,s15)
| node53(c_s,s14) ),
inference(resolution,[],['6000','6002']) ).
cnf('6004',plain,
node55(c_s,s14,s15),
inference(resolution,[],['5999','6003']) ).
cnf('6005',plain,
~ m_state_v_midPosP(c_s,s14),
inference(resolution,[then_simplify],['5978','258','5979']) ).
cnf('6006',plain,
~ m_state_v_midPosP(c_s,s15),
inference(resolution,[then_simplify],['6004','258','6005']) ).
cnf('6007',plain,
~ node54(c_s,s15),
inference(resolution,[],['6006','248']) ).
cnf('6008',plain,
node56(c_s,s15,s16),
inference(resolution,[],['245','2150']) ).
cnf('6009',plain,
( node55(c_s,s15,s16)
| node53(c_s,s15)
| node54(c_s,s15) ),
inference(resolution,[],['6008','247']) ).
cnf('6010',plain,
( node55(c_s,s15,s16)
| node53(c_s,s15) ),
inference(resolution,[],['6007','6009']) ).
cnf('6011',plain,
node55(c_s,s15,s16),
inference(resolution,[],['5997','6010']) ).
cnf('6012',plain,
~ m_state_v_midPosP(c_s,s15),
inference(resolution,[then_simplify],['6004','258','6005']) ).
cnf('6013',plain,
~ m_state_v_midPosP(c_s,s16),
inference(resolution,[then_simplify],['6011','258','6012']) ).
cnf('6014',plain,
~ node50(c_s,s16),
inference(resolution,[],['6013','770']) ).
cnf('6015',plain,
~ node50(c_s,s15),
inference(resolution,[],['6006','770']) ).
cnf('6016',plain,
~ node50(c_s,s14),
inference(resolution,[],['5980','770']) ).
cnf('6017',plain,
~ node49(c_s,s14),
inference(resolution,[],['5990','772']) ).
cnf('6018',plain,
node52(c_s,s14,s15),
inference(resolution,[],['767','2121']) ).
cnf('6019',plain,
( node51(c_s,s14,s15)
| node49(c_s,s14)
| node50(c_s,s14) ),
inference(resolution,[],['6018','769']) ).
cnf('6020',plain,
( node51(c_s,s14,s15)
| node50(c_s,s14) ),
inference(resolution,[],['6017','6019']) ).
cnf('6021',plain,
node51(c_s,s14,s15),
inference(resolution,[],['6016','6020']) ).
cnf('6022',plain,
~ m_state_v_topPosP(c_s,s14),
inference(resolution,[then_simplify],['5988','776','5989']) ).
cnf('6023',plain,
~ m_state_v_topPosP(c_s,s15),
inference(resolution,[then_simplify],['6021','776','6022']) ).
cnf('6024',plain,
~ node49(c_s,s15),
inference(resolution,[],['6023','772']) ).
cnf('6025',plain,
node52(c_s,s15,s16),
inference(resolution,[],['767','2150']) ).
cnf('6026',plain,
( node51(c_s,s15,s16)
| node49(c_s,s15)
| node50(c_s,s15) ),
inference(resolution,[],['6025','769']) ).
cnf('6027',plain,
( node51(c_s,s15,s16)
| node50(c_s,s15) ),
inference(resolution,[],['6024','6026']) ).
cnf('6028',plain,
node51(c_s,s15,s16),
inference(resolution,[],['6015','6027']) ).
cnf('6029',plain,
~ m_state_v_topPosP(c_s,s15),
inference(resolution,[then_simplify],['6021','776','6022']) ).
cnf('6030',plain,
~ m_state_v_topPosP(c_s,s16),
inference(resolution,[then_simplify],['6028','776','6029']) ).
cnf('6031',plain,
~ node49(c_s,s16),
inference(resolution,[],['6030','772']) ).
cnf('6032',plain,
node52(c_s,s16,s17),
inference(resolution,[],['767','3274']) ).
cnf('6033',plain,
( node51(c_s,s16,s17)
| node49(c_s,s16)
| node50(c_s,s16) ),
inference(resolution,[],['6032','769']) ).
cnf('6034',plain,
( node51(c_s,s16,s17)
| node50(c_s,s16) ),
inference(resolution,[],['6031','6033']) ).
cnf('6035',plain,
node51(c_s,s16,s17),
inference(resolution,[],['6014','6034']) ).
cnf('6036',plain,
~ m_state_v_topPosP(c_s,s16),
inference(resolution,[then_simplify],['6028','776','6029']) ).
cnf('6037',plain,
~ m_state_v_topPosP(c_s,s17),
inference(resolution,[then_simplify],['6035','776','6036']) ).
cnf('6038',plain,
( m_state_v_topPosP(c_s,X)
| ~ node201(X) ),
inference(cnf_transformation,[],[prpty52]) ).
cnf('6039',plain,
~ node201(s17),
inference(resolution,[],['6037','6038']) ).
cnf('6040',plain,
~ node250(s17),
inference(resolution,[then_simplify],['5812','5222','6039']) ).
cnf('6041',plain,
~ until251(s17),
inference(resolution,[then_simplify],['5754','5229','6040']) ).
cnf('6042',plain,
( ~ always198(s17)
| always198(s18) ),
inference(resolution,[],['3399','5685']) ).
cnf('6043',plain,
~ always198(s17),
inference(resolution,[],['5687','6042']) ).
cnf('6044',plain,
~ node199(s17),
inference(resolution,[],['6043','5238']) ).
cnf('6045',plain,
~ node255(s17),
inference(resolution,[then_simplify],['6041','5234','6044']) ).
cnf('6046',plain,
~ until256(s17),
inference(resolution,[then_simplify],['5752','5241','6045']) ).
cnf('6047',plain,
( ~ always196(s17)
| always196(s18) ),
inference(resolution,[],['3399','5691']) ).
cnf('6048',plain,
~ always196(s17),
inference(resolution,[],['5693','6047']) ).
cnf('6049',plain,
~ node197(s17),
inference(resolution,[],['6048','5250']) ).
cnf('6050',plain,
~ node260(s17),
inference(resolution,[then_simplify],['6046','5246','6049']) ).
cnf('6051',plain,
~ until261(s17),
inference(resolution,[then_simplify],['5750','5253','6050']) ).
cnf('6052',plain,
( ~ always194(s17)
| always194(s18) ),
inference(resolution,[],['3399','5697']) ).
cnf('6053',plain,
~ always194(s17),
inference(resolution,[],['5699','6052']) ).
cnf('6054',plain,
~ node195(s17),
inference(resolution,[],['6053','5262']) ).
cnf('6055',plain,
~ node265(s17),
inference(resolution,[then_simplify],['6051','5258','6054']) ).
cnf('6056',plain,
~ until266(s17),
inference(resolution,[then_simplify],['5748','5265','6055']) ).
cnf('6057',plain,
( ~ always192(s17)
| always192(s18) ),
inference(resolution,[],['3399','5703']) ).
cnf('6058',plain,
~ always192(s17),
inference(resolution,[],['5705','6057']) ).
cnf('6059',plain,
~ node193(s17),
inference(resolution,[],['6058','5274']) ).
cnf('6060',plain,
~ node270(s17),
inference(resolution,[then_simplify],['6056','5270','6059']) ).
cnf('6061',plain,
~ until271(s17),
inference(resolution,[then_simplify],['5746','5277','6060']) ).
cnf('6062',plain,
~ node191(s17),
inference(resolution,[],['5566','5709']) ).
cnf('6063',plain,
~ node275(s17),
inference(resolution,[then_simplify],['6061','5282','6062']) ).
cnf('6064',plain,
~ until276(s17),
inference(resolution,[then_simplify],['5744','5289','6063']) ).
cnf('6065',plain,
~ node189(s17),
inference(resolution,[],['5545','5576']) ).
cnf('6066',plain,
~ node280(s17),
inference(resolution,[then_simplify],['6064','5294','6065']) ).
cnf('6067',plain,
~ until281(s17),
inference(resolution,[then_simplify],['5742','5579','6066']) ).
cnf('6068',plain,
~ node187(s17),
inference(resolution,[],['5726','5735']) ).
cnf('6069',plain,
~ node285(s17),
inference(resolution,[then_simplify],['6067','5584','6068']) ).
cnf('6070',plain,
~ until286(s17),
inference(resolution,[then_simplify],['5740','5591','6069']) ).
cnf('6071',plain,
( ~ xuntil287(s16)
| until286(s17) ),
inference(resolution,[],['3273','5596']) ).
cnf('6072',plain,
~ xuntil287(s16),
inference(resolution,[],['6070','6071']) ).
cnf('6073',plain,
( ~ xuntil282(s16)
| until281(s17) ),
inference(resolution,[],['3273','5599']) ).
cnf('6074',plain,
~ xuntil282(s16),
inference(resolution,[],['6067','6073']) ).
cnf('6075',plain,
( ~ xuntil277(s16)
| until276(s17) ),
inference(resolution,[],['3273','5602']) ).
cnf('6076',plain,
~ xuntil277(s16),
inference(resolution,[],['6064','6075']) ).
cnf('6077',plain,
( ~ xuntil272(s16)
| until271(s17) ),
inference(resolution,[],['3273','5605']) ).
cnf('6078',plain,
~ xuntil272(s16),
inference(resolution,[],['6061','6077']) ).
cnf('6079',plain,
( ~ xuntil267(s16)
| until266(s17) ),
inference(resolution,[],['3273','5608']) ).
cnf('6080',plain,
~ xuntil267(s16),
inference(resolution,[],['6056','6079']) ).
cnf('6081',plain,
( ~ xuntil262(s16)
| until261(s17) ),
inference(resolution,[],['3273','5611']) ).
cnf('6082',plain,
~ xuntil262(s16),
inference(resolution,[],['6051','6081']) ).
cnf('6083',plain,
( ~ xuntil257(s16)
| until256(s17) ),
inference(resolution,[],['3273','5614']) ).
cnf('6084',plain,
~ xuntil257(s16),
inference(resolution,[],['6046','6083']) ).
cnf('6085',plain,
( ~ xuntil252(s16)
| until251(s17) ),
inference(resolution,[],['3273','5617']) ).
cnf('6086',plain,
~ xuntil252(s16),
inference(resolution,[],['6041','6085']) ).
cnf('6087',plain,
( ~ xuntil247(s16)
| until246(s17) ),
inference(resolution,[],['3273','5620']) ).
cnf('6088',plain,
~ xuntil247(s16),
inference(resolution,[],['5812','6087']) ).
cnf('6089',plain,
( ~ xuntil242(s16)
| until241(s17) ),
inference(resolution,[],['3273','5623']) ).
cnf('6090',plain,
~ xuntil242(s16),
inference(resolution,[],['5807','6089']) ).
cnf('6091',plain,
( ~ xuntil237(s16)
| until236(s17) ),
inference(resolution,[],['3273','5626']) ).
cnf('6092',plain,
~ xuntil237(s16),
inference(resolution,[],['5787','6091']) ).
cnf('6093',plain,
( ~ xuntil232(s16)
| until231(s17) ),
inference(resolution,[],['3273','5629']) ).
cnf('6094',plain,
~ xuntil232(s16),
inference(resolution,[],['5782','6093']) ).
cnf('6095',plain,
( ~ xuntil227(s16)
| until226(s17) ),
inference(resolution,[],['3273','5632']) ).
cnf('6096',plain,
~ xuntil227(s16),
inference(resolution,[],['5777','6095']) ).
cnf('6097',plain,
( ~ xuntil222(s16)
| until221(s17) ),
inference(resolution,[],['3273','5635']) ).
cnf('6098',plain,
~ xuntil222(s16),
inference(resolution,[],['5774','6097']) ).
cnf('6099',plain,
( ~ xuntil217(s16)
| until216(s17) ),
inference(resolution,[],['3273','5638']) ).
cnf('6100',plain,
~ xuntil217(s16),
inference(resolution,[],['5771','6099']) ).
cnf('6101',plain,
~ node215(s16),
inference(resolution,[],['3406','5769']) ).
cnf('6102',plain,
~ until216(s16),
inference(resolution,[then_simplify],['6100','3667','6101']) ).
cnf('6103',plain,
~ node213(s16),
inference(resolution,[],['3499','3672']) ).
cnf('6104',plain,
~ node220(s16),
inference(resolution,[then_simplify],['6102','3671','6103']) ).
cnf('6105',plain,
~ until221(s16),
inference(resolution,[then_simplify],['6098','3675','6104']) ).
cnf('6106',plain,
~ node211(s16),
inference(resolution,[],['4981','5020']) ).
cnf('6107',plain,
~ node225(s16),
inference(resolution,[then_simplify],['6105','3680','6106']) ).
cnf('6108',plain,
~ until226(s16),
inference(resolution,[then_simplify],['6096','5023','6107']) ).
cnf('6109',plain,
( ~ always208(s16)
| always208(s17) ),
inference(resolution,[],['3274','5656']) ).
cnf('6110',plain,
~ always208(s16),
inference(resolution,[],['5779','6109']) ).
cnf('6111',plain,
~ node209(s16),
inference(resolution,[],['6110','5032']) ).
cnf('6112',plain,
~ node230(s16),
inference(resolution,[then_simplify],['6108','5028','6111']) ).
cnf('6113',plain,
~ until231(s16),
inference(resolution,[then_simplify],['6094','5035','6112']) ).
cnf('6114',plain,
m_state_v_DBM(c_s,s16,c_run),
inference(resolution,[],['5164','5053']) ).
cnf('6115',plain,
~ always206(s16),
inference(resolution,[then_simplify],['4981','5041','6114']) ).
cnf('6116',plain,
~ node207(s16),
inference(resolution,[],['6115','5190']) ).
cnf('6117',plain,
~ node235(s16),
inference(resolution,[then_simplify],['6113','5040','6116']) ).
cnf('6118',plain,
~ until236(s16),
inference(resolution,[then_simplify],['6092','5193','6117']) ).
cnf('6119',plain,
~ m_state_v_a2ext(c_s,s16,c_a2ip),
inference(resolution,[],['5793','313']) ).
cnf('6120',plain,
~ node205(s16),
inference(resolution,[],['6119','5804']) ).
cnf('6121',plain,
~ node240(s16),
inference(resolution,[then_simplify],['6118','5198','6120']) ).
cnf('6122',plain,
~ until241(s16),
inference(resolution,[then_simplify],['6090','5205','6121']) ).
cnf('6123',plain,
( ~ always202(s16)
| always202(s17) ),
inference(resolution,[],['3274','5673']) ).
cnf('6124',plain,
~ always202(s16),
inference(resolution,[],['5809','6123']) ).
cnf('6125',plain,
~ node203(s16),
inference(resolution,[],['6124','5214']) ).
cnf('6126',plain,
~ node245(s16),
inference(resolution,[then_simplify],['6122','5210','6125']) ).
cnf('6127',plain,
~ until246(s16),
inference(resolution,[then_simplify],['6088','5217','6126']) ).
cnf('6128',plain,
~ node201(s16),
inference(resolution,[],['6030','6038']) ).
cnf('6129',plain,
~ node250(s16),
inference(resolution,[then_simplify],['6127','5222','6128']) ).
cnf('6130',plain,
~ until251(s16),
inference(resolution,[then_simplify],['6086','5229','6129']) ).
cnf('6131',plain,
( m_state_v_midPosP(c_s,X)
| ~ node199(X) ),
inference(cnf_transformation,[],[prpty46]) ).
cnf('6132',plain,
~ node199(s16),
inference(resolution,[],['6013','6131']) ).
cnf('6133',plain,
~ node255(s16),
inference(resolution,[then_simplify],['6130','5234','6132']) ).
cnf('6134',plain,
~ until256(s16),
inference(resolution,[then_simplify],['6084','5241','6133']) ).
cnf('6135',plain,
( ~ always196(s16)
| always196(s17) ),
inference(resolution,[],['3274','5691']) ).
cnf('6136',plain,
~ always196(s16),
inference(resolution,[],['6048','6135']) ).
cnf('6137',plain,
~ node197(s16),
inference(resolution,[],['6136','5250']) ).
cnf('6138',plain,
~ node260(s16),
inference(resolution,[then_simplify],['6134','5246','6137']) ).
cnf('6139',plain,
~ until261(s16),
inference(resolution,[then_simplify],['6082','5253','6138']) ).
cnf('6140',plain,
( ~ always194(s16)
| always194(s17) ),
inference(resolution,[],['3274','5697']) ).
cnf('6141',plain,
~ always194(s16),
inference(resolution,[],['6053','6140']) ).
cnf('6142',plain,
~ node195(s16),
inference(resolution,[],['6141','5262']) ).
cnf('6143',plain,
~ node265(s16),
inference(resolution,[then_simplify],['6139','5258','6142']) ).
cnf('6144',plain,
~ until266(s16),
inference(resolution,[then_simplify],['6080','5265','6143']) ).
cnf('6145',plain,
~ m_state_v_TEM(c_s,s16,c_idle),
inference(resolution,[],['5485','270']) ).
cnf('6146',plain,
( m_state_v_TEM(c_s,X,c_idle)
| ~ node193(X) ),
inference(cnf_transformation,[],[prpty26]) ).
cnf('6147',plain,
~ node193(s16),
inference(resolution,[],['6145','6146']) ).
cnf('6148',plain,
~ node270(s16),
inference(resolution,[then_simplify],['6144','5270','6147']) ).
cnf('6149',plain,
~ until271(s16),
inference(resolution,[then_simplify],['6078','5277','6148']) ).
cnf('6150',plain,
~ node191(s16),
inference(resolution,[],['5493','5709']) ).
cnf('6151',plain,
~ node275(s16),
inference(resolution,[then_simplify],['6149','5282','6150']) ).
cnf('6152',plain,
~ until276(s16),
inference(resolution,[then_simplify],['6076','5289','6151']) ).
cnf('6153',plain,
~ node189(s16),
inference(resolution,[],['5537','5576']) ).
cnf('6154',plain,
~ node280(s16),
inference(resolution,[then_simplify],['6152','5294','6153']) ).
cnf('6155',plain,
~ until281(s16),
inference(resolution,[then_simplify],['6074','5579','6154']) ).
cnf('6156',plain,
~ node187(s16),
inference(resolution,[],['5516','5735']) ).
cnf('6157',plain,
~ node285(s16),
inference(resolution,[then_simplify],['6155','5584','6156']) ).
cnf('6158',plain,
~ until286(s16),
inference(resolution,[then_simplify],['6072','5591','6157']) ).
cnf('6159',plain,
( ~ xuntil287(s15)
| until286(s16) ),
inference(resolution,[],['2149','5596']) ).
cnf('6160',plain,
~ xuntil287(s15),
inference(resolution,[],['6158','6159']) ).
cnf('6161',plain,
( ~ xuntil282(s15)
| until281(s16) ),
inference(resolution,[],['2149','5599']) ).
cnf('6162',plain,
~ xuntil282(s15),
inference(resolution,[],['6155','6161']) ).
cnf('6163',plain,
( ~ xuntil277(s15)
| until276(s16) ),
inference(resolution,[],['2149','5602']) ).
cnf('6164',plain,
~ xuntil277(s15),
inference(resolution,[],['6152','6163']) ).
cnf('6165',plain,
( ~ xuntil272(s15)
| until271(s16) ),
inference(resolution,[],['2149','5605']) ).
cnf('6166',plain,
~ xuntil272(s15),
inference(resolution,[],['6149','6165']) ).
cnf('6167',plain,
( ~ xuntil267(s15)
| until266(s16) ),
inference(resolution,[],['2149','5608']) ).
cnf('6168',plain,
~ xuntil267(s15),
inference(resolution,[],['6144','6167']) ).
cnf('6169',plain,
( ~ xuntil262(s15)
| until261(s16) ),
inference(resolution,[],['2149','5611']) ).
cnf('6170',plain,
~ xuntil262(s15),
inference(resolution,[],['6139','6169']) ).
cnf('6171',plain,
( ~ xuntil257(s15)
| until256(s16) ),
inference(resolution,[],['2149','5614']) ).
cnf('6172',plain,
~ xuntil257(s15),
inference(resolution,[],['6134','6171']) ).
cnf('6173',plain,
( ~ xuntil252(s15)
| until251(s16) ),
inference(resolution,[],['2149','5617']) ).
cnf('6174',plain,
~ xuntil252(s15),
inference(resolution,[],['6130','6173']) ).
cnf('6175',plain,
( ~ xuntil247(s15)
| until246(s16) ),
inference(resolution,[],['2149','5620']) ).
cnf('6176',plain,
~ xuntil247(s15),
inference(resolution,[],['6127','6175']) ).
cnf('6177',plain,
( ~ xuntil242(s15)
| until241(s16) ),
inference(resolution,[],['2149','5623']) ).
cnf('6178',plain,
~ xuntil242(s15),
inference(resolution,[],['6122','6177']) ).
cnf('6179',plain,
( ~ xuntil237(s15)
| until236(s16) ),
inference(resolution,[],['2149','5626']) ).
cnf('6180',plain,
~ xuntil237(s15),
inference(resolution,[],['6118','6179']) ).
cnf('6181',plain,
( ~ xuntil232(s15)
| until231(s16) ),
inference(resolution,[],['2149','5629']) ).
cnf('6182',plain,
~ xuntil232(s15),
inference(resolution,[],['6113','6181']) ).
cnf('6183',plain,
( ~ xuntil227(s15)
| until226(s16) ),
inference(resolution,[],['2149','5632']) ).
cnf('6184',plain,
~ xuntil227(s15),
inference(resolution,[],['6108','6183']) ).
cnf('6185',plain,
( ~ xuntil222(s15)
| until221(s16) ),
inference(resolution,[],['2149','5635']) ).
cnf('6186',plain,
~ xuntil222(s15),
inference(resolution,[],['6105','6185']) ).
cnf('6187',plain,
( ~ xuntil217(s15)
| until216(s16) ),
inference(resolution,[],['2149','5638']) ).
cnf('6188',plain,
~ xuntil217(s15),
inference(resolution,[],['6102','6187']) ).
cnf('6189',plain,
~ node215(s15),
inference(resolution,[],['3246','5769']) ).
cnf('6190',plain,
~ until216(s15),
inference(resolution,[then_simplify],['6188','3667','6189']) ).
cnf('6191',plain,
~ node213(s15),
inference(resolution,[],['3265','3672']) ).
cnf('6192',plain,
~ node220(s15),
inference(resolution,[then_simplify],['6190','3671','6191']) ).
cnf('6193',plain,
~ until221(s15),
inference(resolution,[then_simplify],['6186','3675','6192']) ).
cnf('6194',plain,
~ node211(s15),
inference(resolution,[],['4956','5020']) ).
cnf('6195',plain,
~ node225(s15),
inference(resolution,[then_simplify],['6193','3680','6194']) ).
cnf('6196',plain,
~ until226(s15),
inference(resolution,[then_simplify],['6184','5023','6195']) ).
cnf('6197',plain,
( ~ always208(s15)
| always208(s16) ),
inference(resolution,[],['2150','5656']) ).
cnf('6198',plain,
~ always208(s15),
inference(resolution,[],['6110','6197']) ).
cnf('6199',plain,
~ node209(s15),
inference(resolution,[],['6198','5032']) ).
cnf('6200',plain,
~ node230(s15),
inference(resolution,[then_simplify],['6196','5028','6199']) ).
cnf('6201',plain,
~ until231(s15),
inference(resolution,[then_simplify],['6182','5035','6200']) ).
cnf('6202',plain,
m_state_v_DBM(c_s,s15,c_run),
inference(resolution,[],['5156','5053']) ).
cnf('6203',plain,
~ always206(s15),
inference(resolution,[then_simplify],['4956','5041','6202']) ).
cnf('6204',plain,
~ node207(s15),
inference(resolution,[],['6203','5190']) ).
cnf('6205',plain,
~ node235(s15),
inference(resolution,[then_simplify],['6201','5040','6204']) ).
cnf('6206',plain,
~ until236(s15),
inference(resolution,[then_simplify],['6180','5193','6205']) ).
cnf('6207',plain,
~ node205(s15),
inference(resolution,[],['4530','5804']) ).
cnf('6208',plain,
~ node240(s15),
inference(resolution,[then_simplify],['6206','5198','6207']) ).
cnf('6209',plain,
~ until241(s15),
inference(resolution,[then_simplify],['6178','5205','6208']) ).
cnf('6210',plain,
( ~ always202(s15)
| always202(s16) ),
inference(resolution,[],['2150','5673']) ).
cnf('6211',plain,
~ always202(s15),
inference(resolution,[],['6124','6210']) ).
cnf('6212',plain,
~ node203(s15),
inference(resolution,[],['6211','5214']) ).
cnf('6213',plain,
~ node245(s15),
inference(resolution,[then_simplify],['6209','5210','6212']) ).
cnf('6214',plain,
~ until246(s15),
inference(resolution,[then_simplify],['6176','5217','6213']) ).
cnf('6215',plain,
~ node201(s15),
inference(resolution,[],['6023','6038']) ).
cnf('6216',plain,
~ node250(s15),
inference(resolution,[then_simplify],['6214','5222','6215']) ).
cnf('6217',plain,
~ until251(s15),
inference(resolution,[then_simplify],['6174','5229','6216']) ).
cnf('6218',plain,
~ node199(s15),
inference(resolution,[],['6006','6131']) ).
cnf('6219',plain,
~ node255(s15),
inference(resolution,[then_simplify],['6217','5234','6218']) ).
cnf('6220',plain,
~ until256(s15),
inference(resolution,[then_simplify],['6172','5241','6219']) ).
cnf('6221',plain,
( ~ node31(c_s,s10,X)
| m_state_v_a1ext(c_s,X,c_retracted) ),
inference(resolution,[],['4051','450']) ).
cnf('6222',plain,
m_state_v_A1M(c_s,s10,c_idle),
inference(resolution,[],['4182','4043']) ).
cnf('6223',plain,
~ m_state_v_A1M(c_s,s10,c_retract),
inference(resolution,[],['6222','41']) ).
cnf('6224',plain,
node32(c_s,s10,s11),
inference(resolution,[],['195','1610']) ).
cnf('6225',plain,
( node31(c_s,s10,s11)
| m_state_v_A1M(c_s,s10,c_retract)
| node29(c_s,s10)
| node30(c_s,s10) ),
inference(resolution,[],['6224','197']) ).
cnf('6226',plain,
~ node29(c_s,s10),
inference(resolution,[],['1226','4047']) ).
cnf('6227',plain,
~ node30(c_s,s10),
inference(resolution,[],['3810','198']) ).
cnf('6228',plain,
node31(c_s,s10,s11),
inference(resolution,[then_simplify],['6223','6225','6226','6227']) ).
cnf('6229',plain,
m_state_v_a1ext(c_s,s11,c_retracted),
inference(resolution,[],['6221','6228']) ).
cnf('6230',plain,
( ~ node31(c_s,s11,X)
| m_state_v_a1ext(c_s,X,c_retracted) ),
inference(resolution,[],['6229','450']) ).
cnf('6231',plain,
~ node129(c_s,s10),
inference(resolution,[],['3810','140']) ).
cnf('6232',plain,
node131(c_s,s10,s11),
inference(resolution,[],['137','1610']) ).
cnf('6233',plain,
( node130(c_s,s10,s11)
| node122(c_s,s10)
| node123(c_s,s10)
| node124(c_s,s10)
| node125(c_s,s10)
| node126(c_s,s10)
| node127(c_s,s10)
| node128(c_s,s10)
| node129(c_s,s10) ),
inference(resolution,[],['6232','139']) ).
cnf('6234',plain,
( ~ node122(X,Y)
| m_state_v_maxRot(X,Y) ),
inference(cnf_transformation,[],[m_Robot_10]) ).
cnf('6235',plain,
~ node122(c_s,s10),
inference(resolution,[],['2001','6234']) ).
cnf('6236',plain,
~ node123(c_s,s10),
inference(resolution,[],['5828','261']) ).
cnf('6237',plain,
~ node124(c_s,s10),
inference(resolution,[],['4052','242']) ).
cnf('6238',plain,
~ node125(c_s,s10),
inference(resolution,[],['4056','240']) ).
cnf('6239',plain,
~ node126(c_s,s10),
inference(resolution,[],['4052','238']) ).
cnf('6240',plain,
~ node127(c_s,s10),
inference(resolution,[],['4056','236']) ).
cnf('6241',plain,
~ node128(c_s,s10),
inference(resolution,[],['1226','4179']) ).
cnf('6242',plain,
node130(c_s,s10,s11),
inference(resolution,[then_simplify],['6231','6233','6235','6236','6237','6238','6239','6240','6241']) ).
cnf('6243',plain,
( ~ m_state_v_A1M(c_s,s10,X)
| m_state_v_A1M(c_s,s11,X) ),
inference(resolution,[],['6242','230']) ).
cnf('6244',plain,
m_state_v_A1M(c_s,s11,c_idle),
inference(resolution,[],['6243','6222']) ).
cnf('6245',plain,
~ m_state_v_A1M(c_s,s11,c_retract),
inference(resolution,[],['6244','41']) ).
cnf('6246',plain,
node32(c_s,s11,s12),
inference(resolution,[],['195','1940']) ).
cnf('6247',plain,
( node31(c_s,s11,s12)
| m_state_v_A1M(c_s,s11,c_retract)
| node29(c_s,s11)
| node30(c_s,s11) ),
inference(resolution,[],['6246','197']) ).
cnf('6248',plain,
~ node29(c_s,s11),
inference(resolution,[],['4310','4047']) ).
cnf('6249',plain,
~ node30(c_s,s11),
inference(resolution,[],['4040','198']) ).
cnf('6250',plain,
node31(c_s,s11,s12),
inference(resolution,[then_simplify],['6245','6247','6248','6249']) ).
cnf('6251',plain,
m_state_v_a1ext(c_s,s12,c_retracted),
inference(resolution,[],['6230','6250']) ).
cnf('6252',plain,
( ~ node31(c_s,s12,X)
| m_state_v_a1ext(c_s,X,c_retracted) ),
inference(resolution,[],['6251','450']) ).
cnf('6253',plain,
~ node129(c_s,s11),
inference(resolution,[],['4040','140']) ).
cnf('6254',plain,
node131(c_s,s11,s12),
inference(resolution,[],['137','1940']) ).
cnf('6255',plain,
( node130(c_s,s11,s12)
| node122(c_s,s11)
| node123(c_s,s11)
| node124(c_s,s11)
| node125(c_s,s11)
| node126(c_s,s11)
| node127(c_s,s11)
| node128(c_s,s11)
| node129(c_s,s11) ),
inference(resolution,[],['6254','139']) ).
cnf('6256',plain,
~ node122(c_s,s11),
inference(resolution,[],['5314','6234']) ).
cnf('6257',plain,
~ node123(c_s,s11),
inference(resolution,[],['5865','261']) ).
cnf('6258',plain,
~ m_state_v_a1ext(c_s,s11,c_ot),
inference(resolution,[],['6229','212']) ).
cnf('6259',plain,
~ node124(c_s,s11),
inference(resolution,[],['6258','242']) ).
cnf('6260',plain,
~ m_state_v_a1ext(c_s,s11,c_a1ip),
inference(resolution,[],['6229','205']) ).
cnf('6261',plain,
~ node125(c_s,s11),
inference(resolution,[],['6260','240']) ).
cnf('6262',plain,
~ node126(c_s,s11),
inference(resolution,[],['6258','238']) ).
cnf('6263',plain,
~ node127(c_s,s11),
inference(resolution,[],['6260','236']) ).
cnf('6264',plain,
~ node128(c_s,s11),
inference(resolution,[],['4310','4179']) ).
cnf('6265',plain,
node130(c_s,s11,s12),
inference(resolution,[then_simplify],['6253','6255','6256','6257','6259','6261','6262','6263','6264']) ).
cnf('6266',plain,
( ~ m_state_v_A1M(c_s,s11,X)
| m_state_v_A1M(c_s,s12,X) ),
inference(resolution,[],['6265','230']) ).
cnf('6267',plain,
m_state_v_A1M(c_s,s12,c_idle),
inference(resolution,[],['6266','6244']) ).
cnf('6268',plain,
~ m_state_v_A1M(c_s,s12,c_retract),
inference(resolution,[],['6267','41']) ).
cnf('6269',plain,
node32(c_s,s12,s13),
inference(resolution,[],['195','2036']) ).
cnf('6270',plain,
( node31(c_s,s12,s13)
| m_state_v_A1M(c_s,s12,c_retract)
| node29(c_s,s12)
| node30(c_s,s12) ),
inference(resolution,[],['6269','197']) ).
cnf('6271',plain,
~ node29(c_s,s12),
inference(resolution,[],['4375','4047']) ).
cnf('6272',plain,
~ node30(c_s,s12),
inference(resolution,[],['4337','198']) ).
cnf('6273',plain,
node31(c_s,s12,s13),
inference(resolution,[then_simplify],['6268','6270','6271','6272']) ).
cnf('6274',plain,
m_state_v_a1ext(c_s,s13,c_retracted),
inference(resolution,[],['6252','6273']) ).
cnf('6275',plain,
( ~ node31(c_s,s13,X)
| m_state_v_a1ext(c_s,X,c_retracted) ),
inference(resolution,[],['6274','450']) ).
cnf('6276',plain,
~ node129(c_s,s12),
inference(resolution,[],['4337','140']) ).
cnf('6277',plain,
node131(c_s,s12,s13),
inference(resolution,[],['137','2036']) ).
cnf('6278',plain,
( node130(c_s,s12,s13)
| node122(c_s,s12)
| node123(c_s,s12)
| node124(c_s,s12)
| node125(c_s,s12)
| node126(c_s,s12)
| node127(c_s,s12)
| node128(c_s,s12)
| node129(c_s,s12) ),
inference(resolution,[],['6277','139']) ).
cnf('6279',plain,
~ node122(c_s,s12),
inference(resolution,[],['5349','6234']) ).
cnf('6280',plain,
~ node123(c_s,s12),
inference(resolution,[],['5903','261']) ).
cnf('6281',plain,
~ m_state_v_a1ext(c_s,s12,c_ot),
inference(resolution,[],['6251','212']) ).
cnf('6282',plain,
~ node124(c_s,s12),
inference(resolution,[],['6281','242']) ).
cnf('6283',plain,
~ m_state_v_a1ext(c_s,s12,c_a1ip),
inference(resolution,[],['6251','205']) ).
cnf('6284',plain,
~ node125(c_s,s12),
inference(resolution,[],['6283','240']) ).
cnf('6285',plain,
~ node126(c_s,s12),
inference(resolution,[],['6281','238']) ).
cnf('6286',plain,
~ node127(c_s,s12),
inference(resolution,[],['6283','236']) ).
cnf('6287',plain,
~ node128(c_s,s12),
inference(resolution,[],['4375','4179']) ).
cnf('6288',plain,
node130(c_s,s12,s13),
inference(resolution,[then_simplify],['6276','6278','6279','6280','6282','6284','6285','6286','6287']) ).
cnf('6289',plain,
( ~ m_state_v_A1M(c_s,s12,X)
| m_state_v_A1M(c_s,s13,X) ),
inference(resolution,[],['6288','230']) ).
cnf('6290',plain,
m_state_v_A1M(c_s,s13,c_idle),
inference(resolution,[],['6289','6267']) ).
cnf('6291',plain,
~ m_state_v_A1M(c_s,s13,c_retract),
inference(resolution,[],['6290','41']) ).
cnf('6292',plain,
node32(c_s,s13,s14),
inference(resolution,[],['195','2062']) ).
cnf('6293',plain,
( node31(c_s,s13,s14)
| m_state_v_A1M(c_s,s13,c_retract)
| node29(c_s,s13)
| node30(c_s,s13) ),
inference(resolution,[],['6292','197']) ).
cnf('6294',plain,
~ node29(c_s,s13),
inference(resolution,[],['4446','4047']) ).
cnf('6295',plain,
~ node30(c_s,s13),
inference(resolution,[],['4402','198']) ).
cnf('6296',plain,
node31(c_s,s13,s14),
inference(resolution,[then_simplify],['6291','6293','6294','6295']) ).
cnf('6297',plain,
m_state_v_a1ext(c_s,s14,c_retracted),
inference(resolution,[],['6275','6296']) ).
cnf('6298',plain,
( ~ node31(c_s,s14,X)
| m_state_v_a1ext(c_s,X,c_retracted) ),
inference(resolution,[],['6297','450']) ).
cnf('6299',plain,
~ node129(c_s,s13),
inference(resolution,[],['4402','140']) ).
cnf('6300',plain,
node131(c_s,s13,s14),
inference(resolution,[],['137','2062']) ).
cnf('6301',plain,
( node130(c_s,s13,s14)
| node122(c_s,s13)
| node123(c_s,s13)
| node124(c_s,s13)
| node125(c_s,s13)
| node126(c_s,s13)
| node127(c_s,s13)
| node128(c_s,s13)
| node129(c_s,s13) ),
inference(resolution,[],['6300','139']) ).
cnf('6302',plain,
~ node122(c_s,s13),
inference(resolution,[],['5392','6234']) ).
cnf('6303',plain,
~ node123(c_s,s13),
inference(resolution,[],['5942','261']) ).
cnf('6304',plain,
~ m_state_v_a1ext(c_s,s13,c_ot),
inference(resolution,[],['6274','212']) ).
cnf('6305',plain,
~ node124(c_s,s13),
inference(resolution,[],['6304','242']) ).
cnf('6306',plain,
~ m_state_v_a1ext(c_s,s13,c_a1ip),
inference(resolution,[],['6274','205']) ).
cnf('6307',plain,
~ node125(c_s,s13),
inference(resolution,[],['6306','240']) ).
cnf('6308',plain,
~ node126(c_s,s13),
inference(resolution,[],['6304','238']) ).
cnf('6309',plain,
~ node127(c_s,s13),
inference(resolution,[],['6306','236']) ).
cnf('6310',plain,
~ node128(c_s,s13),
inference(resolution,[],['4446','4179']) ).
cnf('6311',plain,
node130(c_s,s13,s14),
inference(resolution,[then_simplify],['6299','6301','6302','6303','6305','6307','6308','6309','6310']) ).
cnf('6312',plain,
( ~ m_state_v_A1M(c_s,s13,X)
| m_state_v_A1M(c_s,s14,X) ),
inference(resolution,[],['6311','230']) ).
cnf('6313',plain,
m_state_v_A1M(c_s,s14,c_idle),
inference(resolution,[],['6312','6290']) ).
cnf('6314',plain,
~ m_state_v_A1M(c_s,s14,c_retract),
inference(resolution,[],['6313','41']) ).
cnf('6315',plain,
node32(c_s,s14,s15),
inference(resolution,[],['195','2121']) ).
cnf('6316',plain,
( node31(c_s,s14,s15)
| m_state_v_A1M(c_s,s14,c_retract)
| node29(c_s,s14)
| node30(c_s,s14) ),
inference(resolution,[],['6315','197']) ).
cnf('6317',plain,
~ m_state_v_angle(c_s,s14,c_arm1totable),
inference(resolution,[],['4399','130']) ).
cnf('6318',plain,
~ node29(c_s,s14),
inference(resolution,[],['6317','4047']) ).
cnf('6319',plain,
~ m_state_v_angle(c_s,s14,c_arm1topress),
inference(resolution,[],['4399','1210']) ).
cnf('6320',plain,
~ node30(c_s,s14),
inference(resolution,[],['6319','198']) ).
cnf('6321',plain,
node31(c_s,s14,s15),
inference(resolution,[then_simplify],['6314','6316','6318','6320']) ).
cnf('6322',plain,
m_state_v_a1ext(c_s,s15,c_retracted),
inference(resolution,[],['6298','6321']) ).
cnf('6323',plain,
~ m_state_v_a1ext(c_s,s15,c_a1ip),
inference(resolution,[],['6322','205']) ).
cnf('6324',plain,
( m_state_v_a1ext(c_s,X,c_a1ip)
| ~ node197(X) ),
inference(cnf_transformation,[],[prpty41]) ).
cnf('6325',plain,
~ node197(s15),
inference(resolution,[],['6323','6324']) ).
cnf('6326',plain,
~ node260(s15),
inference(resolution,[then_simplify],['6220','5246','6325']) ).
cnf('6327',plain,
~ until261(s15),
inference(resolution,[then_simplify],['6170','5253','6326']) ).
cnf('6328',plain,
~ m_state_v_a1ext(c_s,s15,c_ot),
inference(resolution,[],['6322','212']) ).
cnf('6329',plain,
( m_state_v_a1ext(c_s,X,c_ot)
| ~ node195(X) ),
inference(cnf_transformation,[],[prpty34]) ).
cnf('6330',plain,
~ node195(s15),
inference(resolution,[],['6328','6329']) ).
cnf('6331',plain,
~ node265(s15),
inference(resolution,[then_simplify],['6327','5258','6330']) ).
cnf('6332',plain,
~ until266(s15),
inference(resolution,[then_simplify],['6168','5265','6331']) ).
cnf('6333',plain,
( m_state_v_maxRot(c_s,X)
| ~ node193(X) ),
inference(cnf_transformation,[],[prpty25]) ).
cnf('6334',plain,
~ node193(s15),
inference(resolution,[],['5482','6333']) ).
cnf('6335',plain,
~ node270(s15),
inference(resolution,[then_simplify],['6332','5270','6334']) ).
cnf('6336',plain,
~ until271(s15),
inference(resolution,[then_simplify],['6166','5277','6335']) ).
cnf('6337',plain,
( m_state_v_TEM(c_s,X,c_idle)
| ~ node191(X) ),
inference(cnf_transformation,[],[prpty18]) ).
cnf('6338',plain,
~ node191(s15),
inference(resolution,[],['5457','6337']) ).
cnf('6339',plain,
~ node275(s15),
inference(resolution,[then_simplify],['6336','5282','6338']) ).
cnf('6340',plain,
~ until276(s15),
inference(resolution,[then_simplify],['6164','5289','6339']) ).
cnf('6341',plain,
~ node189(s15),
inference(resolution,[],['2146','5576']) ).
cnf('6342',plain,
~ node280(s15),
inference(resolution,[then_simplify],['6340','5294','6341']) ).
cnf('6343',plain,
~ until281(s15),
inference(resolution,[then_simplify],['6162','5579','6342']) ).
cnf('6344',plain,
( ~ trans(X,Y)
| ~ always186(X)
| always186(Y) ),
inference(cnf_transformation,[],[prpty2]) ).
cnf('6345',plain,
( ~ always186(s18)
| always186(s19) ),
inference(resolution,[],['3452','6344']) ).
cnf('6346',plain,
~ always186(s18),
inference(resolution,[],['5587','6345']) ).
cnf('6347',plain,
( ~ always186(s17)
| always186(s18) ),
inference(resolution,[],['3399','6344']) ).
cnf('6348',plain,
~ always186(s17),
inference(resolution,[],['6346','6347']) ).
cnf('6349',plain,
( ~ always186(s16)
| always186(s17) ),
inference(resolution,[],['3274','6344']) ).
cnf('6350',plain,
~ always186(s16),
inference(resolution,[],['6348','6349']) ).
cnf('6351',plain,
( ~ always186(s15)
| always186(s16) ),
inference(resolution,[],['2150','6344']) ).
cnf('6352',plain,
~ always186(s15),
inference(resolution,[],['6350','6351']) ).
cnf('6353',plain,
~ node187(s15),
inference(resolution,[],['6352','5588']) ).
cnf('6354',plain,
~ node285(s15),
inference(resolution,[then_simplify],['6343','5584','6353']) ).
cnf('6355',plain,
~ until286(s15),
inference(resolution,[then_simplify],['6160','5591','6354']) ).
cnf('6356',plain,
( ~ xuntil287(s14)
| until286(s15) ),
inference(resolution,[],['2120','5596']) ).
cnf('6357',plain,
~ xuntil287(s14),
inference(resolution,[],['6355','6356']) ).
cnf('6358',plain,
( ~ xuntil282(s14)
| until281(s15) ),
inference(resolution,[],['2120','5599']) ).
cnf('6359',plain,
~ xuntil282(s14),
inference(resolution,[],['6343','6358']) ).
cnf('6360',plain,
( ~ xuntil277(s14)
| until276(s15) ),
inference(resolution,[],['2120','5602']) ).
cnf('6361',plain,
~ xuntil277(s14),
inference(resolution,[],['6340','6360']) ).
cnf('6362',plain,
( ~ xuntil272(s14)
| until271(s15) ),
inference(resolution,[],['2120','5605']) ).
cnf('6363',plain,
~ xuntil272(s14),
inference(resolution,[],['6336','6362']) ).
cnf('6364',plain,
( ~ xuntil267(s14)
| until266(s15) ),
inference(resolution,[],['2120','5608']) ).
cnf('6365',plain,
~ xuntil267(s14),
inference(resolution,[],['6332','6364']) ).
cnf('6366',plain,
( ~ xuntil262(s14)
| until261(s15) ),
inference(resolution,[],['2120','5611']) ).
cnf('6367',plain,
~ xuntil262(s14),
inference(resolution,[],['6327','6366']) ).
cnf('6368',plain,
( ~ xuntil257(s14)
| until256(s15) ),
inference(resolution,[],['2120','5614']) ).
cnf('6369',plain,
~ xuntil257(s14),
inference(resolution,[],['6220','6368']) ).
cnf('6370',plain,
( ~ xuntil252(s14)
| until251(s15) ),
inference(resolution,[],['2120','5617']) ).
cnf('6371',plain,
~ xuntil252(s14),
inference(resolution,[],['6217','6370']) ).
cnf('6372',plain,
( ~ xuntil247(s14)
| until246(s15) ),
inference(resolution,[],['2120','5620']) ).
cnf('6373',plain,
~ xuntil247(s14),
inference(resolution,[],['6214','6372']) ).
cnf('6374',plain,
( ~ xuntil242(s14)
| until241(s15) ),
inference(resolution,[],['2120','5623']) ).
cnf('6375',plain,
~ xuntil242(s14),
inference(resolution,[],['6209','6374']) ).
cnf('6376',plain,
( ~ xuntil237(s14)
| until236(s15) ),
inference(resolution,[],['2120','5626']) ).
cnf('6377',plain,
~ xuntil237(s14),
inference(resolution,[],['6206','6376']) ).
cnf('6378',plain,
( ~ xuntil232(s14)
| until231(s15) ),
inference(resolution,[],['2120','5629']) ).
cnf('6379',plain,
~ xuntil232(s14),
inference(resolution,[],['6201','6378']) ).
cnf('6380',plain,
( ~ xuntil227(s14)
| until226(s15) ),
inference(resolution,[],['2120','5632']) ).
cnf('6381',plain,
~ xuntil227(s14),
inference(resolution,[],['6196','6380']) ).
cnf('6382',plain,
( ~ xuntil222(s14)
| until221(s15) ),
inference(resolution,[],['2120','5635']) ).
cnf('6383',plain,
~ xuntil222(s14),
inference(resolution,[],['6193','6382']) ).
cnf('6384',plain,
( ~ xuntil217(s14)
| until216(s15) ),
inference(resolution,[],['2120','5638']) ).
cnf('6385',plain,
~ xuntil217(s14),
inference(resolution,[],['6190','6384']) ).
cnf('6386',plain,
~ node215(s14),
inference(resolution,[],['3179','5769']) ).
cnf('6387',plain,
~ until216(s14),
inference(resolution,[then_simplify],['6385','3667','6386']) ).
cnf('6388',plain,
~ node213(s14),
inference(resolution,[],['3197','3672']) ).
cnf('6389',plain,
~ node220(s14),
inference(resolution,[then_simplify],['6387','3671','6388']) ).
cnf('6390',plain,
~ until221(s14),
inference(resolution,[then_simplify],['6383','3675','6389']) ).
cnf('6391',plain,
~ node211(s14),
inference(resolution,[],['4949','5020']) ).
cnf('6392',plain,
~ node225(s14),
inference(resolution,[then_simplify],['6390','3680','6391']) ).
cnf('6393',plain,
~ until226(s14),
inference(resolution,[then_simplify],['6381','5023','6392']) ).
cnf('6394',plain,
( ~ always208(s14)
| always208(s15) ),
inference(resolution,[],['2121','5656']) ).
cnf('6395',plain,
~ always208(s14),
inference(resolution,[],['6198','6394']) ).
cnf('6396',plain,
~ node209(s14),
inference(resolution,[],['6395','5032']) ).
cnf('6397',plain,
~ node230(s14),
inference(resolution,[then_simplify],['6393','5028','6396']) ).
cnf('6398',plain,
~ until231(s14),
inference(resolution,[then_simplify],['6379','5035','6397']) ).
cnf('6399',plain,
m_state_v_DBM(c_s,s12,c_run),
inference(resolution,[],['5134','5053']) ).
cnf('6400',plain,
( ~ node112(c_s,s12,X)
| m_state_v_DBM(c_s,X,c_run) ),
inference(resolution,[],['6399','5055']) ).
cnf('6401',plain,
m_state_v_DBM(c_s,s13,c_run),
inference(resolution,[],['5139','6400']) ).
cnf('6402',plain,
( ~ node112(c_s,s13,X)
| m_state_v_DBM(c_s,X,c_run) ),
inference(resolution,[],['6401','5055']) ).
cnf('6403',plain,
m_state_v_DBM(c_s,s14,c_run),
inference(resolution,[],['5146','6402']) ).
cnf('6404',plain,
~ always206(s14),
inference(resolution,[then_simplify],['4949','5041','6403']) ).
cnf('6405',plain,
~ node207(s14),
inference(resolution,[],['6404','5190']) ).
cnf('6406',plain,
~ node235(s14),
inference(resolution,[then_simplify],['6398','5040','6405']) ).
cnf('6407',plain,
~ until236(s14),
inference(resolution,[then_simplify],['6377','5193','6406']) ).
cnf('6408',plain,
( m_state_v_A2M(c_s,X,c_extend)
| ~ node205(X) ),
inference(cnf_transformation,[],[prpty65]) ).
cnf('6409',plain,
~ node205(s14),
inference(resolution,[],['4507','6408']) ).
cnf('6410',plain,
~ node240(s14),
inference(resolution,[then_simplify],['6407','5198','6409']) ).
cnf('6411',plain,
~ until241(s14),
inference(resolution,[then_simplify],['6375','5205','6410']) ).
cnf('6412',plain,
( ~ always202(s14)
| always202(s15) ),
inference(resolution,[],['2121','5673']) ).
cnf('6413',plain,
~ always202(s14),
inference(resolution,[],['6211','6412']) ).
cnf('6414',plain,
~ node203(s14),
inference(resolution,[],['6413','5214']) ).
cnf('6415',plain,
~ node245(s14),
inference(resolution,[then_simplify],['6411','5210','6414']) ).
cnf('6416',plain,
~ until246(s14),
inference(resolution,[then_simplify],['6373','5217','6415']) ).
cnf('6417',plain,
~ node201(s14),
inference(resolution,[],['5990','6038']) ).
cnf('6418',plain,
~ node250(s14),
inference(resolution,[then_simplify],['6416','5222','6417']) ).
cnf('6419',plain,
~ until251(s14),
inference(resolution,[then_simplify],['6371','5229','6418']) ).
cnf('6420',plain,
~ node199(s14),
inference(resolution,[],['5980','6131']) ).
cnf('6421',plain,
~ node255(s14),
inference(resolution,[then_simplify],['6419','5234','6420']) ).
cnf('6422',plain,
~ until256(s14),
inference(resolution,[then_simplify],['6369','5241','6421']) ).
cnf('6423',plain,
~ m_state_v_a1ext(c_s,s14,c_a1ip),
inference(resolution,[],['6297','205']) ).
cnf('6424',plain,
~ node197(s14),
inference(resolution,[],['6423','6324']) ).
cnf('6425',plain,
~ node260(s14),
inference(resolution,[then_simplify],['6422','5246','6424']) ).
cnf('6426',plain,
~ until261(s14),
inference(resolution,[then_simplify],['6367','5253','6425']) ).
cnf('6427',plain,
~ m_state_v_a1ext(c_s,s14,c_ot),
inference(resolution,[],['6297','212']) ).
cnf('6428',plain,
~ node195(s14),
inference(resolution,[],['6427','6329']) ).
cnf('6429',plain,
~ node265(s14),
inference(resolution,[then_simplify],['6426','5258','6428']) ).
cnf('6430',plain,
~ until266(s14),
inference(resolution,[then_simplify],['6365','5265','6429']) ).
cnf('6431',plain,
~ m_state_v_maxRot(c_s,s14),
inference(resolution,[then_simplify],['5479','1708','5480']) ).
cnf('6432',plain,
~ node193(s14),
inference(resolution,[],['6431','6333']) ).
cnf('6433',plain,
~ node270(s14),
inference(resolution,[then_simplify],['6430','5270','6432']) ).
cnf('6434',plain,
~ until271(s14),
inference(resolution,[then_simplify],['6363','5277','6433']) ).
cnf('6435',plain,
node169(c_s,s14,s15),
inference(resolution,[],['458','2121']) ).
cnf('6436',plain,
( ~ m_state_v_TRM(c_s,s14,c_idle)
| ~ m_state_v_TEM(c_s,s14,c_idle)
| ~ m_state_v_tl(c_s,s14)
| ~ m_state_v_botPos(c_s,s14)
| ~ m_state_v_minRot(c_s,s14)
| m_state_v_TRM(c_s,s15,c_clockwise) ),
inference(resolution,[],['6435','460']) ).
cnf('6437',plain,
( ~ m_state_v_tl(c_s,s14)
| m_state_v_TRM(c_s,s15,c_clockwise) ),
inference(resolution,[then_simplify],['5396','6436','5419','5435','5449']) ).
cnf('6438',plain,
m_state_v_TRM(c_s,s15,c_clockwise),
inference(resolution,[],['5300','6437']) ).
cnf('6439',plain,
( ~ node168(c_s,s15,X)
| m_state_v_TRM(c_s,X,c_clockwise) ),
inference(resolution,[],['6438','1698']) ).
cnf('6440',plain,
~ m_state_v_TRM(c_s,s15,c_counterclockwise),
inference(resolution,[],['6438','1717']) ).
cnf('6441',plain,
~ node167(c_s,s15),
inference(resolution,[],['6440','1719']) ).
cnf('6442',plain,
node169(c_s,s15,s16),
inference(resolution,[],['458','2150']) ).
cnf('6443',plain,
( node168(c_s,s15,s16)
| node164(c_s,s15)
| node165(c_s,s15)
| node166(c_s,s15)
| node167(c_s,s15) ),
inference(resolution,[],['6442','1701']) ).
cnf('6444',plain,
~ node164(c_s,s15),
inference(resolution,[],['5457','1714']) ).
cnf('6445',plain,
~ node165(c_s,s15),
inference(resolution,[],['5482','1712']) ).
cnf('6446',plain,
~ node166(c_s,s15),
inference(resolution,[],['5482','2003']) ).
cnf('6447',plain,
node168(c_s,s15,s16),
inference(resolution,[then_simplify],['6441','6443','6444','6445','6446']) ).
cnf('6448',plain,
m_state_v_TRM(c_s,s16,c_clockwise),
inference(resolution,[],['6439','6447']) ).
cnf('6449',plain,
node28(c_s,s16,s17),
inference(resolution,[],['478','3274']) ).
cnf('6450',plain,
( ~ m_state_v_TRM(c_s,s16,c_clockwise)
| m_state_v_maxRot(c_s,s17) ),
inference(resolution,[],['6449','480']) ).
cnf('6451',plain,
m_state_v_maxRot(c_s,s17),
inference(resolution,[],['6448','6450']) ).
cnf('6452',plain,
( ~ m_state_v_TRM(c_s,X,c_idle)
| ~ m_state_v_TEM(c_s,X,c_idle)
| ~ m_state_v_maxRot(c_s,X)
| ~ m_state_v_topPos(c_s,X)
| ~ always190(X) ),
inference(cnf_transformation,[],[prpty13]) ).
cnf('6453',plain,
node169(c_s,s16,s17),
inference(resolution,[],['458','3274']) ).
cnf('6454',plain,
( ~ m_state_v_TRM(c_s,s16,c_clockwise)
| ~ m_state_v_maxRot(c_s,s16)
| m_state_v_TRM(c_s,s17,c_idle)
| node164(c_s,s16) ),
inference(resolution,[],['6453','1723']) ).
cnf('6455',plain,
node28(c_s,s15,s16),
inference(resolution,[],['478','2150']) ).
cnf('6456',plain,
( ~ m_state_v_TRM(c_s,s15,c_clockwise)
| m_state_v_maxRot(c_s,s16) ),
inference(resolution,[],['6455','480']) ).
cnf('6457',plain,
m_state_v_maxRot(c_s,s16),
inference(resolution,[],['6438','6456']) ).
cnf('6458',plain,
~ node164(c_s,s16),
inference(resolution,[],['5493','1724']) ).
cnf('6459',plain,
m_state_v_TRM(c_s,s17,c_idle),
inference(resolution,[then_simplify],['6448','6454','6457','6458']) ).
cnf('6460',plain,
m_state_v_TEM(c_s,s17,c_idle),
inference(resolution,[then_simplify],['5485','5487','5490','5494']) ).
cnf('6461',plain,
node22(c_s,s16,s17),
inference(resolution,[],['264','3274']) ).
cnf('6462',plain,
( ~ m_state_v_TEM(c_s,s16,c_up)
| m_state_v_topPos(c_s,s17) ),
inference(resolution,[],['6461','492']) ).
cnf('6463',plain,
m_state_v_topPos(c_s,s17),
inference(resolution,[],['5485','6462']) ).
cnf('6464',plain,
~ always190(s17),
inference(resolution,[then_simplify],['6451','6452','6459','6460','6463']) ).
cnf('6465',plain,
( ~ trans(X,Y)
| ~ always190(X)
| always190(Y) ),
inference(cnf_transformation,[],[prpty14]) ).
cnf('6466',plain,
( ~ always190(s16)
| always190(s17) ),
inference(resolution,[],['3274','6465']) ).
cnf('6467',plain,
~ always190(s16),
inference(resolution,[],['6464','6466']) ).
cnf('6468',plain,
( ~ always190(s15)
| always190(s16) ),
inference(resolution,[],['2150','6465']) ).
cnf('6469',plain,
~ always190(s15),
inference(resolution,[],['6467','6468']) ).
cnf('6470',plain,
( ~ always190(s14)
| always190(s15) ),
inference(resolution,[],['2121','6465']) ).
cnf('6471',plain,
~ always190(s14),
inference(resolution,[],['6469','6470']) ).
cnf('6472',plain,
~ node191(s14),
inference(resolution,[],['6471','5286']) ).
cnf('6473',plain,
~ node275(s14),
inference(resolution,[then_simplify],['6434','5282','6472']) ).
cnf('6474',plain,
~ until276(s14),
inference(resolution,[then_simplify],['6361','5289','6473']) ).
cnf('6475',plain,
~ node189(s14),
inference(resolution,[],['2137','5576']) ).
cnf('6476',plain,
~ node280(s14),
inference(resolution,[then_simplify],['6474','5294','6475']) ).
cnf('6477',plain,
~ until281(s14),
inference(resolution,[then_simplify],['6359','5579','6476']) ).
cnf('6478',plain,
( ~ always186(s14)
| always186(s15) ),
inference(resolution,[],['2121','6344']) ).
cnf('6479',plain,
~ always186(s14),
inference(resolution,[],['6352','6478']) ).
cnf('6480',plain,
~ node187(s14),
inference(resolution,[],['6479','5588']) ).
cnf('6481',plain,
~ node285(s14),
inference(resolution,[then_simplify],['6477','5584','6480']) ).
cnf('6482',plain,
~ until286(s14),
inference(resolution,[then_simplify],['6357','5591','6481']) ).
cnf('6483',plain,
( ~ xuntil287(s13)
| until286(s14) ),
inference(resolution,[],['2061','5596']) ).
cnf('6484',plain,
~ xuntil287(s13),
inference(resolution,[],['6482','6483']) ).
cnf('6485',plain,
( ~ xuntil282(s13)
| until281(s14) ),
inference(resolution,[],['2061','5599']) ).
cnf('6486',plain,
~ xuntil282(s13),
inference(resolution,[],['6477','6485']) ).
cnf('6487',plain,
( ~ xuntil277(s13)
| until276(s14) ),
inference(resolution,[],['2061','5602']) ).
cnf('6488',plain,
~ xuntil277(s13),
inference(resolution,[],['6474','6487']) ).
cnf('6489',plain,
( ~ xuntil272(s13)
| until271(s14) ),
inference(resolution,[],['2061','5605']) ).
cnf('6490',plain,
~ xuntil272(s13),
inference(resolution,[],['6434','6489']) ).
cnf('6491',plain,
( ~ xuntil267(s13)
| until266(s14) ),
inference(resolution,[],['2061','5608']) ).
cnf('6492',plain,
~ xuntil267(s13),
inference(resolution,[],['6430','6491']) ).
cnf('6493',plain,
( ~ xuntil262(s13)
| until261(s14) ),
inference(resolution,[],['2061','5611']) ).
cnf('6494',plain,
~ xuntil262(s13),
inference(resolution,[],['6426','6493']) ).
cnf('6495',plain,
( ~ xuntil257(s13)
| until256(s14) ),
inference(resolution,[],['2061','5614']) ).
cnf('6496',plain,
~ xuntil257(s13),
inference(resolution,[],['6422','6495']) ).
cnf('6497',plain,
( ~ xuntil252(s13)
| until251(s14) ),
inference(resolution,[],['2061','5617']) ).
cnf('6498',plain,
~ xuntil252(s13),
inference(resolution,[],['6419','6497']) ).
cnf('6499',plain,
( ~ xuntil247(s13)
| until246(s14) ),
inference(resolution,[],['2061','5620']) ).
cnf('6500',plain,
~ xuntil247(s13),
inference(resolution,[],['6416','6499']) ).
cnf('6501',plain,
( ~ xuntil242(s13)
| until241(s14) ),
inference(resolution,[],['2061','5623']) ).
cnf('6502',plain,
~ xuntil242(s13),
inference(resolution,[],['6411','6501']) ).
cnf('6503',plain,
( ~ xuntil237(s13)
| until236(s14) ),
inference(resolution,[],['2061','5626']) ).
cnf('6504',plain,
~ xuntil237(s13),
inference(resolution,[],['6407','6503']) ).
cnf('6505',plain,
( ~ xuntil232(s13)
| until231(s14) ),
inference(resolution,[],['2061','5629']) ).
cnf('6506',plain,
~ xuntil232(s13),
inference(resolution,[],['6398','6505']) ).
cnf('6507',plain,
( ~ xuntil227(s13)
| until226(s14) ),
inference(resolution,[],['2061','5632']) ).
cnf('6508',plain,
~ xuntil227(s13),
inference(resolution,[],['6393','6507']) ).
cnf('6509',plain,
( ~ xuntil222(s13)
| until221(s14) ),
inference(resolution,[],['2061','5635']) ).
cnf('6510',plain,
~ xuntil222(s13),
inference(resolution,[],['6390','6509']) ).
cnf('6511',plain,
( ~ xuntil217(s13)
| until216(s14) ),
inference(resolution,[],['2061','5638']) ).
cnf('6512',plain,
~ xuntil217(s13),
inference(resolution,[],['6387','6511']) ).
cnf('6513',plain,
~ node215(s13),
inference(resolution,[],['3126','5769']) ).
cnf('6514',plain,
~ until216(s13),
inference(resolution,[then_simplify],['6512','3667','6513']) ).
cnf('6515',plain,
~ node213(s13),
inference(resolution,[],['3144','3672']) ).
cnf('6516',plain,
~ node220(s13),
inference(resolution,[then_simplify],['6514','3671','6515']) ).
cnf('6517',plain,
~ until221(s13),
inference(resolution,[then_simplify],['6510','3675','6516']) ).
cnf('6518',plain,
~ node211(s13),
inference(resolution,[],['4924','5020']) ).
cnf('6519',plain,
~ node225(s13),
inference(resolution,[then_simplify],['6517','3680','6518']) ).
cnf('6520',plain,
~ until226(s13),
inference(resolution,[then_simplify],['6508','5023','6519']) ).
cnf('6521',plain,
( ~ always208(s13)
| always208(s14) ),
inference(resolution,[],['2062','5656']) ).
cnf('6522',plain,
~ always208(s13),
inference(resolution,[],['6395','6521']) ).
cnf('6523',plain,
~ node209(s13),
inference(resolution,[],['6522','5032']) ).
cnf('6524',plain,
~ node230(s13),
inference(resolution,[then_simplify],['6520','5028','6523']) ).
cnf('6525',plain,
~ until231(s13),
inference(resolution,[then_simplify],['6506','5035','6524']) ).
cnf('6526',plain,
m_state_v_DBM(c_s,s13,c_run),
inference(resolution,[],['5139','6400']) ).
cnf('6527',plain,
~ always206(s13),
inference(resolution,[then_simplify],['4924','5041','6526']) ).
cnf('6528',plain,
~ node207(s13),
inference(resolution,[],['6527','5190']) ).
cnf('6529',plain,
~ node235(s13),
inference(resolution,[then_simplify],['6525','5040','6528']) ).
cnf('6530',plain,
~ until236(s13),
inference(resolution,[then_simplify],['6504','5193','6529']) ).
cnf('6531',plain,
~ node205(s13),
inference(resolution,[],['4484','6408']) ).
cnf('6532',plain,
~ node240(s13),
inference(resolution,[then_simplify],['6530','5198','6531']) ).
cnf('6533',plain,
~ until241(s13),
inference(resolution,[then_simplify],['6502','5205','6532']) ).
cnf('6534',plain,
( ~ always202(s13)
| always202(s14) ),
inference(resolution,[],['2062','5673']) ).
cnf('6535',plain,
~ always202(s13),
inference(resolution,[],['6413','6534']) ).
cnf('6536',plain,
~ node203(s13),
inference(resolution,[],['6535','5214']) ).
cnf('6537',plain,
~ node245(s13),
inference(resolution,[then_simplify],['6533','5210','6536']) ).
cnf('6538',plain,
~ until246(s13),
inference(resolution,[then_simplify],['6500','5217','6537']) ).
cnf('6539',plain,
~ node201(s13),
inference(resolution,[],['5952','6038']) ).
cnf('6540',plain,
~ node250(s13),
inference(resolution,[then_simplify],['6538','5222','6539']) ).
cnf('6541',plain,
~ until251(s13),
inference(resolution,[then_simplify],['6498','5229','6540']) ).
cnf('6542',plain,
~ node199(s13),
inference(resolution,[],['5942','6131']) ).
cnf('6543',plain,
~ node255(s13),
inference(resolution,[then_simplify],['6541','5234','6542']) ).
cnf('6544',plain,
~ until256(s13),
inference(resolution,[then_simplify],['6496','5241','6543']) ).
cnf('6545',plain,
~ node197(s13),
inference(resolution,[],['6306','6324']) ).
cnf('6546',plain,
~ node260(s13),
inference(resolution,[then_simplify],['6544','5246','6545']) ).
cnf('6547',plain,
~ until261(s13),
inference(resolution,[then_simplify],['6494','5253','6546']) ).
cnf('6548',plain,
~ node195(s13),
inference(resolution,[],['6304','6329']) ).
cnf('6549',plain,
~ node265(s13),
inference(resolution,[then_simplify],['6547','5258','6548']) ).
cnf('6550',plain,
~ until266(s13),
inference(resolution,[then_simplify],['6492','5265','6549']) ).
cnf('6551',plain,
~ node193(s13),
inference(resolution,[],['5392','6333']) ).
cnf('6552',plain,
~ node270(s13),
inference(resolution,[then_simplify],['6550','5270','6551']) ).
cnf('6553',plain,
~ until271(s13),
inference(resolution,[then_simplify],['6490','5277','6552']) ).
cnf('6554',plain,
( ~ always190(s13)
| always190(s14) ),
inference(resolution,[],['2062','6465']) ).
cnf('6555',plain,
~ always190(s13),
inference(resolution,[],['6471','6554']) ).
cnf('6556',plain,
~ node191(s13),
inference(resolution,[],['6555','5286']) ).
cnf('6557',plain,
~ node275(s13),
inference(resolution,[then_simplify],['6553','5282','6556']) ).
cnf('6558',plain,
~ until276(s13),
inference(resolution,[then_simplify],['6488','5289','6557']) ).
cnf('6559',plain,
( ~ m_state_v_TRM(c_s,X,c_idle)
| ~ m_state_v_TEM(c_s,X,c_idle)
| ~ m_state_v_minRot(c_s,X)
| ~ m_state_v_botPos(c_s,X)
| ~ always188(X) ),
inference(cnf_transformation,[],[prpty7]) ).
cnf('6560',plain,
m_state_v_TRM(c_s,s13,c_idle),
inference(resolution,[],['5399','5407']) ).
cnf('6561',plain,
~ always188(s13),
inference(resolution,[then_simplify],['5353','6559','6560','5448','5434']) ).
cnf('6562',plain,
( ~ node189(X)
| always188(X) ),
inference(cnf_transformation,[],[prpty12]) ).
cnf('6563',plain,
~ node189(s13),
inference(resolution,[],['6561','6562']) ).
cnf('6564',plain,
~ node280(s13),
inference(resolution,[then_simplify],['6558','5294','6563']) ).
cnf('6565',plain,
~ until281(s13),
inference(resolution,[then_simplify],['6486','5579','6564']) ).
cnf('6566',plain,
( ~ m_state_v_deliv(c_s,X)
| ~ node187(X) ),
inference(cnf_transformation,[],[prpty5]) ).
cnf('6567',plain,
~ node187(s13),
inference(resolution,[],['2114','6566']) ).
cnf('6568',plain,
~ node285(s13),
inference(resolution,[then_simplify],['6565','5584','6567']) ).
cnf('6569',plain,
~ until286(s13),
inference(resolution,[then_simplify],['6484','5591','6568']) ).
cnf('6570',plain,
( ~ xuntil287(s12)
| until286(s13) ),
inference(resolution,[],['2035','5596']) ).
cnf('6571',plain,
~ xuntil287(s12),
inference(resolution,[],['6569','6570']) ).
cnf('6572',plain,
( ~ xuntil282(s12)
| until281(s13) ),
inference(resolution,[],['2035','5599']) ).
cnf('6573',plain,
~ xuntil282(s12),
inference(resolution,[],['6565','6572']) ).
cnf('6574',plain,
( ~ xuntil277(s12)
| until276(s13) ),
inference(resolution,[],['2035','5602']) ).
cnf('6575',plain,
~ xuntil277(s12),
inference(resolution,[],['6558','6574']) ).
cnf('6576',plain,
( ~ xuntil272(s12)
| until271(s13) ),
inference(resolution,[],['2035','5605']) ).
cnf('6577',plain,
~ xuntil272(s12),
inference(resolution,[],['6553','6576']) ).
cnf('6578',plain,
( ~ xuntil267(s12)
| until266(s13) ),
inference(resolution,[],['2035','5608']) ).
cnf('6579',plain,
~ xuntil267(s12),
inference(resolution,[],['6550','6578']) ).
cnf('6580',plain,
( ~ xuntil262(s12)
| until261(s13) ),
inference(resolution,[],['2035','5611']) ).
cnf('6581',plain,
~ xuntil262(s12),
inference(resolution,[],['6547','6580']) ).
cnf('6582',plain,
( ~ xuntil257(s12)
| until256(s13) ),
inference(resolution,[],['2035','5614']) ).
cnf('6583',plain,
~ xuntil257(s12),
inference(resolution,[],['6544','6582']) ).
cnf('6584',plain,
( ~ xuntil252(s12)
| until251(s13) ),
inference(resolution,[],['2035','5617']) ).
cnf('6585',plain,
~ xuntil252(s12),
inference(resolution,[],['6541','6584']) ).
cnf('6586',plain,
( ~ xuntil247(s12)
| until246(s13) ),
inference(resolution,[],['2035','5620']) ).
cnf('6587',plain,
~ xuntil247(s12),
inference(resolution,[],['6538','6586']) ).
cnf('6588',plain,
( ~ xuntil242(s12)
| until241(s13) ),
inference(resolution,[],['2035','5623']) ).
cnf('6589',plain,
~ xuntil242(s12),
inference(resolution,[],['6533','6588']) ).
cnf('6590',plain,
( ~ xuntil237(s12)
| until236(s13) ),
inference(resolution,[],['2035','5626']) ).
cnf('6591',plain,
~ xuntil237(s12),
inference(resolution,[],['6530','6590']) ).
cnf('6592',plain,
( ~ xuntil232(s12)
| until231(s13) ),
inference(resolution,[],['2035','5629']) ).
cnf('6593',plain,
~ xuntil232(s12),
inference(resolution,[],['6525','6592']) ).
cnf('6594',plain,
( ~ xuntil227(s12)
| until226(s13) ),
inference(resolution,[],['2035','5632']) ).
cnf('6595',plain,
~ xuntil227(s12),
inference(resolution,[],['6520','6594']) ).
cnf('6596',plain,
( ~ xuntil222(s12)
| until221(s13) ),
inference(resolution,[],['2035','5635']) ).
cnf('6597',plain,
~ xuntil222(s12),
inference(resolution,[],['6517','6596']) ).
cnf('6598',plain,
( ~ xuntil217(s12)
| until216(s13) ),
inference(resolution,[],['2035','5638']) ).
cnf('6599',plain,
~ xuntil217(s12),
inference(resolution,[],['6514','6598']) ).
cnf('6600',plain,
~ node215(s12),
inference(resolution,[],['2993','5769']) ).
cnf('6601',plain,
~ until216(s12),
inference(resolution,[then_simplify],['6599','3667','6600']) ).
cnf('6602',plain,
~ node213(s12),
inference(resolution,[],['3018','3672']) ).
cnf('6603',plain,
~ node220(s12),
inference(resolution,[then_simplify],['6601','3671','6602']) ).
cnf('6604',plain,
~ until221(s12),
inference(resolution,[then_simplify],['6597','3675','6603']) ).
cnf('6605',plain,
~ node211(s12),
inference(resolution,[],['4917','5020']) ).
cnf('6606',plain,
~ node225(s12),
inference(resolution,[then_simplify],['6604','3680','6605']) ).
cnf('6607',plain,
~ until226(s12),
inference(resolution,[then_simplify],['6595','5023','6606']) ).
cnf('6608',plain,
( ~ always208(s12)
| always208(s13) ),
inference(resolution,[],['2036','5656']) ).
cnf('6609',plain,
~ always208(s12),
inference(resolution,[],['6522','6608']) ).
cnf('6610',plain,
~ node209(s12),
inference(resolution,[],['6609','5032']) ).
cnf('6611',plain,
~ node230(s12),
inference(resolution,[then_simplify],['6607','5028','6610']) ).
cnf('6612',plain,
~ until231(s12),
inference(resolution,[then_simplify],['6593','5035','6611']) ).
cnf('6613',plain,
m_state_v_DBM(c_s,s12,c_run),
inference(resolution,[],['5134','5053']) ).
cnf('6614',plain,
~ always206(s12),
inference(resolution,[then_simplify],['4917','5041','6613']) ).
cnf('6615',plain,
~ node207(s12),
inference(resolution,[],['6614','5190']) ).
cnf('6616',plain,
~ node235(s12),
inference(resolution,[then_simplify],['6612','5040','6615']) ).
cnf('6617',plain,
~ until236(s12),
inference(resolution,[then_simplify],['6591','5193','6616']) ).
cnf('6618',plain,
( ~ always204(s17)
| always204(s18) ),
inference(resolution,[],['3399','5667']) ).
cnf('6619',plain,
~ always204(s17),
inference(resolution,[],['5669','6618']) ).
cnf('6620',plain,
( ~ always204(s16)
| always204(s17) ),
inference(resolution,[],['3274','5667']) ).
cnf('6621',plain,
~ always204(s16),
inference(resolution,[],['6619','6620']) ).
cnf('6622',plain,
( ~ always204(s15)
| always204(s16) ),
inference(resolution,[],['2150','5667']) ).
cnf('6623',plain,
~ always204(s15),
inference(resolution,[],['6621','6622']) ).
cnf('6624',plain,
( ~ always204(s14)
| always204(s15) ),
inference(resolution,[],['2121','5667']) ).
cnf('6625',plain,
~ always204(s14),
inference(resolution,[],['6623','6624']) ).
cnf('6626',plain,
( ~ always204(s13)
| always204(s14) ),
inference(resolution,[],['2062','5667']) ).
cnf('6627',plain,
~ always204(s13),
inference(resolution,[],['6625','6626']) ).
cnf('6628',plain,
( ~ always204(s12)
| always204(s13) ),
inference(resolution,[],['2036','5667']) ).
cnf('6629',plain,
~ always204(s12),
inference(resolution,[],['6627','6628']) ).
cnf('6630',plain,
~ node205(s12),
inference(resolution,[],['6629','5202']) ).
cnf('6631',plain,
~ node240(s12),
inference(resolution,[then_simplify],['6617','5198','6630']) ).
cnf('6632',plain,
~ until241(s12),
inference(resolution,[then_simplify],['6589','5205','6631']) ).
cnf('6633',plain,
( ~ m_state_v_a2ext(c_s,X,c_a2ip)
| ~ m_state_v_A2M(c_s,X,c_extend)
| ~ m_state_v_angle(c_s,X,c_arm2topress)
| ~ always202(X) ),
inference(cnf_transformation,[],[prpty55]) ).
cnf('6634',plain,
~ always202(s12),
inference(resolution,[then_simplify],['4037','6633','4407','4421']) ).
cnf('6635',plain,
~ node203(s12),
inference(resolution,[],['6634','5214']) ).
cnf('6636',plain,
~ node245(s12),
inference(resolution,[then_simplify],['6632','5210','6635']) ).
cnf('6637',plain,
~ until246(s12),
inference(resolution,[then_simplify],['6587','5217','6636']) ).
cnf('6638',plain,
~ node201(s12),
inference(resolution,[],['5913','6038']) ).
cnf('6639',plain,
~ node250(s12),
inference(resolution,[then_simplify],['6637','5222','6638']) ).
cnf('6640',plain,
~ until251(s12),
inference(resolution,[then_simplify],['6585','5229','6639']) ).
cnf('6641',plain,
~ node199(s12),
inference(resolution,[],['5903','6131']) ).
cnf('6642',plain,
~ node255(s12),
inference(resolution,[then_simplify],['6640','5234','6641']) ).
cnf('6643',plain,
~ until256(s12),
inference(resolution,[then_simplify],['6583','5241','6642']) ).
cnf('6644',plain,
~ node197(s12),
inference(resolution,[],['6283','6324']) ).
cnf('6645',plain,
~ node260(s12),
inference(resolution,[then_simplify],['6643','5246','6644']) ).
cnf('6646',plain,
~ until261(s12),
inference(resolution,[then_simplify],['6581','5253','6645']) ).
cnf('6647',plain,
~ node195(s12),
inference(resolution,[],['6281','6329']) ).
cnf('6648',plain,
~ node265(s12),
inference(resolution,[then_simplify],['6646','5258','6647']) ).
cnf('6649',plain,
~ until266(s12),
inference(resolution,[then_simplify],['6579','5265','6648']) ).
cnf('6650',plain,
~ node193(s12),
inference(resolution,[],['5349','6333']) ).
cnf('6651',plain,
~ node270(s12),
inference(resolution,[then_simplify],['6649','5270','6650']) ).
cnf('6652',plain,
~ until271(s12),
inference(resolution,[then_simplify],['6577','5277','6651']) ).
cnf('6653',plain,
( ~ always190(s12)
| always190(s13) ),
inference(resolution,[],['2036','6465']) ).
cnf('6654',plain,
~ always190(s12),
inference(resolution,[],['6555','6653']) ).
cnf('6655',plain,
~ node191(s12),
inference(resolution,[],['6654','5286']) ).
cnf('6656',plain,
~ node275(s12),
inference(resolution,[then_simplify],['6652','5282','6655']) ).
cnf('6657',plain,
~ until276(s12),
inference(resolution,[then_simplify],['6575','5289','6656']) ).
cnf('6658',plain,
m_state_v_TRM(c_s,s12,c_idle),
inference(resolution,[],['5376','5384']) ).
cnf('6659',plain,
~ always188(s12),
inference(resolution,[then_simplify],['5318','6559','6658','5447','5433']) ).
cnf('6660',plain,
~ node189(s12),
inference(resolution,[],['6659','6562']) ).
cnf('6661',plain,
~ node280(s12),
inference(resolution,[then_simplify],['6657','5294','6660']) ).
cnf('6662',plain,
~ until281(s12),
inference(resolution,[then_simplify],['6573','5579','6661']) ).
cnf('6663',plain,
~ node187(s12),
inference(resolution,[],['2044','6566']) ).
cnf('6664',plain,
~ node285(s12),
inference(resolution,[then_simplify],['6662','5584','6663']) ).
cnf('6665',plain,
~ until286(s12),
inference(resolution,[then_simplify],['6571','5591','6664']) ).
cnf('6666',plain,
( ~ xuntil287(s11)
| until286(s12) ),
inference(resolution,[],['1939','5596']) ).
cnf('6667',plain,
~ xuntil287(s11),
inference(resolution,[],['6665','6666']) ).
cnf('6668',plain,
( ~ xuntil282(s11)
| until281(s12) ),
inference(resolution,[],['1939','5599']) ).
cnf('6669',plain,
~ xuntil282(s11),
inference(resolution,[],['6662','6668']) ).
cnf('6670',plain,
( ~ xuntil277(s11)
| until276(s12) ),
inference(resolution,[],['1939','5602']) ).
cnf('6671',plain,
~ xuntil277(s11),
inference(resolution,[],['6657','6670']) ).
cnf('6672',plain,
( ~ xuntil272(s11)
| until271(s12) ),
inference(resolution,[],['1939','5605']) ).
cnf('6673',plain,
~ xuntil272(s11),
inference(resolution,[],['6652','6672']) ).
cnf('6674',plain,
( ~ xuntil267(s11)
| until266(s12) ),
inference(resolution,[],['1939','5608']) ).
cnf('6675',plain,
~ xuntil267(s11),
inference(resolution,[],['6649','6674']) ).
cnf('6676',plain,
( ~ xuntil262(s11)
| until261(s12) ),
inference(resolution,[],['1939','5611']) ).
cnf('6677',plain,
~ xuntil262(s11),
inference(resolution,[],['6646','6676']) ).
cnf('6678',plain,
( ~ xuntil257(s11)
| until256(s12) ),
inference(resolution,[],['1939','5614']) ).
cnf('6679',plain,
~ xuntil257(s11),
inference(resolution,[],['6643','6678']) ).
cnf('6680',plain,
( ~ xuntil252(s11)
| until251(s12) ),
inference(resolution,[],['1939','5617']) ).
cnf('6681',plain,
~ xuntil252(s11),
inference(resolution,[],['6640','6680']) ).
cnf('6682',plain,
( ~ xuntil247(s11)
| until246(s12) ),
inference(resolution,[],['1939','5620']) ).
cnf('6683',plain,
~ xuntil247(s11),
inference(resolution,[],['6637','6682']) ).
cnf('6684',plain,
( ~ xuntil242(s11)
| until241(s12) ),
inference(resolution,[],['1939','5623']) ).
cnf('6685',plain,
~ xuntil242(s11),
inference(resolution,[],['6632','6684']) ).
cnf('6686',plain,
( ~ xuntil237(s11)
| until236(s12) ),
inference(resolution,[],['1939','5626']) ).
cnf('6687',plain,
~ xuntil237(s11),
inference(resolution,[],['6617','6686']) ).
cnf('6688',plain,
( ~ xuntil232(s11)
| until231(s12) ),
inference(resolution,[],['1939','5629']) ).
cnf('6689',plain,
~ xuntil232(s11),
inference(resolution,[],['6612','6688']) ).
cnf('6690',plain,
( ~ xuntil227(s11)
| until226(s12) ),
inference(resolution,[],['1939','5632']) ).
cnf('6691',plain,
~ xuntil227(s11),
inference(resolution,[],['6607','6690']) ).
cnf('6692',plain,
( ~ xuntil222(s11)
| until221(s12) ),
inference(resolution,[],['1939','5635']) ).
cnf('6693',plain,
~ xuntil222(s11),
inference(resolution,[],['6604','6692']) ).
cnf('6694',plain,
( ~ xuntil217(s11)
| until216(s12) ),
inference(resolution,[],['1939','5638']) ).
cnf('6695',plain,
~ xuntil217(s11),
inference(resolution,[],['6601','6694']) ).
cnf('6696',plain,
~ node215(s11),
inference(resolution,[],['2921','5769']) ).
cnf('6697',plain,
~ until216(s11),
inference(resolution,[then_simplify],['6695','3667','6696']) ).
cnf('6698',plain,
~ node213(s11),
inference(resolution,[],['2942','3672']) ).
cnf('6699',plain,
~ node220(s11),
inference(resolution,[then_simplify],['6697','3671','6698']) ).
cnf('6700',plain,
~ until221(s11),
inference(resolution,[then_simplify],['6693','3675','6699']) ).
cnf('6701',plain,
~ node211(s11),
inference(resolution,[],['4892','5020']) ).
cnf('6702',plain,
~ node225(s11),
inference(resolution,[then_simplify],['6700','3680','6701']) ).
cnf('6703',plain,
~ until226(s11),
inference(resolution,[then_simplify],['6691','5023','6702']) ).
cnf('6704',plain,
( ~ always208(s11)
| always208(s12) ),
inference(resolution,[],['1940','5656']) ).
cnf('6705',plain,
~ always208(s11),
inference(resolution,[],['6609','6704']) ).
cnf('6706',plain,
~ node209(s11),
inference(resolution,[],['6705','5032']) ).
cnf('6707',plain,
~ node230(s11),
inference(resolution,[then_simplify],['6703','5028','6706']) ).
cnf('6708',plain,
~ until231(s11),
inference(resolution,[then_simplify],['6689','5035','6707']) ).
cnf('6709',plain,
m_state_v_DBM(c_s,s11,c_run),
inference(resolution,[],['5126','5053']) ).
cnf('6710',plain,
~ always206(s11),
inference(resolution,[then_simplify],['4892','5041','6709']) ).
cnf('6711',plain,
~ node207(s11),
inference(resolution,[],['6710','5190']) ).
cnf('6712',plain,
~ node235(s11),
inference(resolution,[then_simplify],['6708','5040','6711']) ).
cnf('6713',plain,
~ until236(s11),
inference(resolution,[then_simplify],['6687','5193','6712']) ).
cnf('6714',plain,
~ node205(s11),
inference(resolution,[],['4358','5804']) ).
cnf('6715',plain,
~ node240(s11),
inference(resolution,[then_simplify],['6713','5198','6714']) ).
cnf('6716',plain,
~ until241(s11),
inference(resolution,[then_simplify],['6685','5205','6715']) ).
cnf('6717',plain,
( ~ always202(s11)
| always202(s12) ),
inference(resolution,[],['1940','5673']) ).
cnf('6718',plain,
~ always202(s11),
inference(resolution,[],['6634','6717']) ).
cnf('6719',plain,
~ node203(s11),
inference(resolution,[],['6718','5214']) ).
cnf('6720',plain,
~ node245(s11),
inference(resolution,[then_simplify],['6716','5210','6719']) ).
cnf('6721',plain,
~ until246(s11),
inference(resolution,[then_simplify],['6683','5217','6720']) ).
cnf('6722',plain,
~ node201(s11),
inference(resolution,[],['5875','6038']) ).
cnf('6723',plain,
~ node250(s11),
inference(resolution,[then_simplify],['6721','5222','6722']) ).
cnf('6724',plain,
~ until251(s11),
inference(resolution,[then_simplify],['6681','5229','6723']) ).
cnf('6725',plain,
~ node199(s11),
inference(resolution,[],['5865','6131']) ).
cnf('6726',plain,
~ node255(s11),
inference(resolution,[then_simplify],['6724','5234','6725']) ).
cnf('6727',plain,
~ until256(s11),
inference(resolution,[then_simplify],['6679','5241','6726']) ).
cnf('6728',plain,
~ node197(s11),
inference(resolution,[],['6260','6324']) ).
cnf('6729',plain,
~ node260(s11),
inference(resolution,[then_simplify],['6727','5246','6728']) ).
cnf('6730',plain,
~ until261(s11),
inference(resolution,[then_simplify],['6677','5253','6729']) ).
cnf('6731',plain,
~ node195(s11),
inference(resolution,[],['6258','6329']) ).
cnf('6732',plain,
~ node265(s11),
inference(resolution,[then_simplify],['6730','5258','6731']) ).
cnf('6733',plain,
~ until266(s11),
inference(resolution,[then_simplify],['6675','5265','6732']) ).
cnf('6734',plain,
~ node193(s11),
inference(resolution,[],['5314','6333']) ).
cnf('6735',plain,
~ node270(s11),
inference(resolution,[then_simplify],['6733','5270','6734']) ).
cnf('6736',plain,
~ until271(s11),
inference(resolution,[then_simplify],['6673','5277','6735']) ).
cnf('6737',plain,
( ~ always190(s11)
| always190(s12) ),
inference(resolution,[],['1940','6465']) ).
cnf('6738',plain,
~ always190(s11),
inference(resolution,[],['6654','6737']) ).
cnf('6739',plain,
~ node191(s11),
inference(resolution,[],['6738','5286']) ).
cnf('6740',plain,
~ node275(s11),
inference(resolution,[then_simplify],['6736','5282','6739']) ).
cnf('6741',plain,
~ until276(s11),
inference(resolution,[then_simplify],['6671','5289','6740']) ).
cnf('6742',plain,
~ node189(s11),
inference(resolution,[],['2097','5576']) ).
cnf('6743',plain,
~ node280(s11),
inference(resolution,[then_simplify],['6741','5294','6742']) ).
cnf('6744',plain,
~ until281(s11),
inference(resolution,[then_simplify],['6669','5579','6743']) ).
cnf('6745',plain,
~ node187(s11),
inference(resolution,[],['2027','5735']) ).
cnf('6746',plain,
~ node285(s11),
inference(resolution,[then_simplify],['6744','5584','6745']) ).
cnf('6747',plain,
~ until286(s11),
inference(resolution,[then_simplify],['6667','5591','6746']) ).
cnf('6748',plain,
( ~ xuntil287(s10)
| until286(s11) ),
inference(resolution,[],['1609','5596']) ).
cnf('6749',plain,
~ xuntil287(s10),
inference(resolution,[],['6747','6748']) ).
cnf('6750',plain,
( ~ xuntil282(s10)
| until281(s11) ),
inference(resolution,[],['1609','5599']) ).
cnf('6751',plain,
~ xuntil282(s10),
inference(resolution,[],['6744','6750']) ).
cnf('6752',plain,
( ~ xuntil277(s10)
| until276(s11) ),
inference(resolution,[],['1609','5602']) ).
cnf('6753',plain,
~ xuntil277(s10),
inference(resolution,[],['6741','6752']) ).
cnf('6754',plain,
( ~ xuntil272(s10)
| until271(s11) ),
inference(resolution,[],['1609','5605']) ).
cnf('6755',plain,
~ xuntil272(s10),
inference(resolution,[],['6736','6754']) ).
cnf('6756',plain,
( ~ xuntil267(s10)
| until266(s11) ),
inference(resolution,[],['1609','5608']) ).
cnf('6757',plain,
~ xuntil267(s10),
inference(resolution,[],['6733','6756']) ).
cnf('6758',plain,
( ~ xuntil262(s10)
| until261(s11) ),
inference(resolution,[],['1609','5611']) ).
cnf('6759',plain,
~ xuntil262(s10),
inference(resolution,[],['6730','6758']) ).
cnf('6760',plain,
( ~ xuntil257(s10)
| until256(s11) ),
inference(resolution,[],['1609','5614']) ).
cnf('6761',plain,
~ xuntil257(s10),
inference(resolution,[],['6727','6760']) ).
cnf('6762',plain,
( ~ xuntil252(s10)
| until251(s11) ),
inference(resolution,[],['1609','5617']) ).
cnf('6763',plain,
~ xuntil252(s10),
inference(resolution,[],['6724','6762']) ).
cnf('6764',plain,
( ~ xuntil247(s10)
| until246(s11) ),
inference(resolution,[],['1609','5620']) ).
cnf('6765',plain,
~ xuntil247(s10),
inference(resolution,[],['6721','6764']) ).
cnf('6766',plain,
( ~ xuntil242(s10)
| until241(s11) ),
inference(resolution,[],['1609','5623']) ).
cnf('6767',plain,
~ xuntil242(s10),
inference(resolution,[],['6716','6766']) ).
cnf('6768',plain,
( ~ xuntil237(s10)
| until236(s11) ),
inference(resolution,[],['1609','5626']) ).
cnf('6769',plain,
~ xuntil237(s10),
inference(resolution,[],['6713','6768']) ).
cnf('6770',plain,
( ~ xuntil232(s10)
| until231(s11) ),
inference(resolution,[],['1609','5629']) ).
cnf('6771',plain,
~ xuntil232(s10),
inference(resolution,[],['6708','6770']) ).
cnf('6772',plain,
( ~ xuntil227(s10)
| until226(s11) ),
inference(resolution,[],['1609','5632']) ).
cnf('6773',plain,
~ xuntil227(s10),
inference(resolution,[],['6703','6772']) ).
cnf('6774',plain,
( ~ xuntil222(s10)
| until221(s11) ),
inference(resolution,[],['1609','5635']) ).
cnf('6775',plain,
~ xuntil222(s10),
inference(resolution,[],['6700','6774']) ).
cnf('6776',plain,
( ~ xuntil217(s10)
| until216(s11) ),
inference(resolution,[],['1609','5638']) ).
cnf('6777',plain,
~ xuntil217(s10),
inference(resolution,[],['6697','6776']) ).
cnf('6778',plain,
~ node215(s10),
inference(resolution,[],['2809','5769']) ).
cnf('6779',plain,
~ until216(s10),
inference(resolution,[then_simplify],['6777','3667','6778']) ).
cnf('6780',plain,
~ node213(s10),
inference(resolution,[],['2853','3672']) ).
cnf('6781',plain,
~ node220(s10),
inference(resolution,[then_simplify],['6779','3671','6780']) ).
cnf('6782',plain,
~ until221(s10),
inference(resolution,[then_simplify],['6775','3675','6781']) ).
cnf('6783',plain,
~ node211(s10),
inference(resolution,[],['4885','5020']) ).
cnf('6784',plain,
~ node225(s10),
inference(resolution,[then_simplify],['6782','3680','6783']) ).
cnf('6785',plain,
~ until226(s10),
inference(resolution,[then_simplify],['6773','5023','6784']) ).
cnf('6786',plain,
( ~ always208(s10)
| always208(s11) ),
inference(resolution,[],['1610','5656']) ).
cnf('6787',plain,
~ always208(s10),
inference(resolution,[],['6705','6786']) ).
cnf('6788',plain,
~ node209(s10),
inference(resolution,[],['6787','5032']) ).
cnf('6789',plain,
~ node230(s10),
inference(resolution,[then_simplify],['6785','5028','6788']) ).
cnf('6790',plain,
~ until231(s10),
inference(resolution,[then_simplify],['6771','5035','6789']) ).
cnf('6791',plain,
( ~ node112(c_s,s9,X)
| m_state_v_DBM(c_s,X,c_run) ),
inference(resolution,[],['5110','5055']) ).
cnf('6792',plain,
m_state_v_DBM(c_s,s10,c_run),
inference(resolution,[],['5116','6791']) ).
cnf('6793',plain,
~ always206(s10),
inference(resolution,[then_simplify],['4885','5041','6792']) ).
cnf('6794',plain,
~ node207(s10),
inference(resolution,[],['6793','5190']) ).
cnf('6795',plain,
~ node235(s10),
inference(resolution,[then_simplify],['6790','5040','6794']) ).
cnf('6796',plain,
~ until236(s10),
inference(resolution,[then_simplify],['6769','5193','6795']) ).
cnf('6797',plain,
~ node205(s10),
inference(resolution,[],['4298','5804']) ).
cnf('6798',plain,
~ node240(s10),
inference(resolution,[then_simplify],['6796','5198','6797']) ).
cnf('6799',plain,
~ until241(s10),
inference(resolution,[then_simplify],['6767','5205','6798']) ).
cnf('6800',plain,
( ~ always202(s10)
| always202(s11) ),
inference(resolution,[],['1610','5673']) ).
cnf('6801',plain,
~ always202(s10),
inference(resolution,[],['6718','6800']) ).
cnf('6802',plain,
~ node203(s10),
inference(resolution,[],['6801','5214']) ).
cnf('6803',plain,
~ node245(s10),
inference(resolution,[then_simplify],['6799','5210','6802']) ).
cnf('6804',plain,
~ until246(s10),
inference(resolution,[then_simplify],['6765','5217','6803']) ).
cnf('6805',plain,
~ node201(s10),
inference(resolution,[],['5838','6038']) ).
cnf('6806',plain,
~ node250(s10),
inference(resolution,[then_simplify],['6804','5222','6805']) ).
cnf('6807',plain,
~ until251(s10),
inference(resolution,[then_simplify],['6763','5229','6806']) ).
cnf('6808',plain,
~ node199(s10),
inference(resolution,[],['5828','6131']) ).
cnf('6809',plain,
~ node255(s10),
inference(resolution,[then_simplify],['6807','5234','6808']) ).
cnf('6810',plain,
~ until256(s10),
inference(resolution,[then_simplify],['6761','5241','6809']) ).
cnf('6811',plain,
~ node197(s10),
inference(resolution,[],['4056','6324']) ).
cnf('6812',plain,
~ node260(s10),
inference(resolution,[then_simplify],['6810','5246','6811']) ).
cnf('6813',plain,
~ until261(s10),
inference(resolution,[then_simplify],['6759','5253','6812']) ).
cnf('6814',plain,
~ node195(s10),
inference(resolution,[],['4052','6329']) ).
cnf('6815',plain,
~ node265(s10),
inference(resolution,[then_simplify],['6813','5258','6814']) ).
cnf('6816',plain,
~ until266(s10),
inference(resolution,[then_simplify],['6757','5265','6815']) ).
cnf('6817',plain,
~ node193(s10),
inference(resolution,[],['2001','6333']) ).
cnf('6818',plain,
~ node270(s10),
inference(resolution,[then_simplify],['6816','5270','6817']) ).
cnf('6819',plain,
~ until271(s10),
inference(resolution,[then_simplify],['6755','5277','6818']) ).
cnf('6820',plain,
( m_state_v_TRM(c_s,X,c_idle)
| ~ node191(X) ),
inference(cnf_transformation,[],[prpty19]) ).
cnf('6821',plain,
~ node191(s10),
inference(resolution,[],['1966','6820']) ).
cnf('6822',plain,
~ node275(s10),
inference(resolution,[then_simplify],['6819','5282','6821']) ).
cnf('6823',plain,
~ until276(s10),
inference(resolution,[then_simplify],['6753','5289','6822']) ).
cnf('6824',plain,
~ node189(s10),
inference(resolution,[],['2101','5576']) ).
cnf('6825',plain,
~ node280(s10),
inference(resolution,[then_simplify],['6823','5294','6824']) ).
cnf('6826',plain,
~ until281(s10),
inference(resolution,[then_simplify],['6751','5579','6825']) ).
cnf('6827',plain,
~ node187(s10),
inference(resolution,[],['1976','5735']) ).
cnf('6828',plain,
~ node285(s10),
inference(resolution,[then_simplify],['6826','5584','6827']) ).
cnf('6829',plain,
~ until286(s10),
inference(resolution,[then_simplify],['6749','5591','6828']) ).
cnf('6830',plain,
( ~ xuntil287(s9)
| until286(s10) ),
inference(resolution,[],['1213','5596']) ).
cnf('6831',plain,
~ xuntil287(s9),
inference(resolution,[],['6829','6830']) ).
cnf('6832',plain,
( ~ xuntil282(s9)
| until281(s10) ),
inference(resolution,[],['1213','5599']) ).
cnf('6833',plain,
~ xuntil282(s9),
inference(resolution,[],['6826','6832']) ).
cnf('6834',plain,
( ~ xuntil277(s9)
| until276(s10) ),
inference(resolution,[],['1213','5602']) ).
cnf('6835',plain,
~ xuntil277(s9),
inference(resolution,[],['6823','6834']) ).
cnf('6836',plain,
( ~ xuntil272(s9)
| until271(s10) ),
inference(resolution,[],['1213','5605']) ).
cnf('6837',plain,
~ xuntil272(s9),
inference(resolution,[],['6819','6836']) ).
cnf('6838',plain,
( ~ xuntil267(s9)
| until266(s10) ),
inference(resolution,[],['1213','5608']) ).
cnf('6839',plain,
~ xuntil267(s9),
inference(resolution,[],['6816','6838']) ).
cnf('6840',plain,
( ~ xuntil262(s9)
| until261(s10) ),
inference(resolution,[],['1213','5611']) ).
cnf('6841',plain,
~ xuntil262(s9),
inference(resolution,[],['6813','6840']) ).
cnf('6842',plain,
( ~ xuntil257(s9)
| until256(s10) ),
inference(resolution,[],['1213','5614']) ).
cnf('6843',plain,
~ xuntil257(s9),
inference(resolution,[],['6810','6842']) ).
cnf('6844',plain,
( ~ xuntil252(s9)
| until251(s10) ),
inference(resolution,[],['1213','5617']) ).
cnf('6845',plain,
~ xuntil252(s9),
inference(resolution,[],['6807','6844']) ).
cnf('6846',plain,
( ~ xuntil247(s9)
| until246(s10) ),
inference(resolution,[],['1213','5620']) ).
cnf('6847',plain,
~ xuntil247(s9),
inference(resolution,[],['6804','6846']) ).
cnf('6848',plain,
( ~ xuntil242(s9)
| until241(s10) ),
inference(resolution,[],['1213','5623']) ).
cnf('6849',plain,
~ xuntil242(s9),
inference(resolution,[],['6799','6848']) ).
cnf('6850',plain,
( ~ xuntil237(s9)
| until236(s10) ),
inference(resolution,[],['1213','5626']) ).
cnf('6851',plain,
~ xuntil237(s9),
inference(resolution,[],['6796','6850']) ).
cnf('6852',plain,
( ~ xuntil232(s9)
| until231(s10) ),
inference(resolution,[],['1213','5629']) ).
cnf('6853',plain,
~ xuntil232(s9),
inference(resolution,[],['6790','6852']) ).
cnf('6854',plain,
( ~ xuntil227(s9)
| until226(s10) ),
inference(resolution,[],['1213','5632']) ).
cnf('6855',plain,
~ xuntil227(s9),
inference(resolution,[],['6785','6854']) ).
cnf('6856',plain,
( ~ xuntil222(s9)
| until221(s10) ),
inference(resolution,[],['1213','5635']) ).
cnf('6857',plain,
~ xuntil222(s9),
inference(resolution,[],['6782','6856']) ).
cnf('6858',plain,
( ~ xuntil217(s9)
| until216(s10) ),
inference(resolution,[],['1213','5638']) ).
cnf('6859',plain,
~ xuntil217(s9),
inference(resolution,[],['6779','6858']) ).
cnf('6860',plain,
~ node215(s9),
inference(resolution,[],['2807','5769']) ).
cnf('6861',plain,
~ until216(s9),
inference(resolution,[then_simplify],['6859','3667','6860']) ).
cnf('6862',plain,
~ node213(s9),
inference(resolution,[],['2860','3672']) ).
cnf('6863',plain,
~ node220(s9),
inference(resolution,[then_simplify],['6861','3671','6862']) ).
cnf('6864',plain,
~ until221(s9),
inference(resolution,[then_simplify],['6857','3675','6863']) ).
cnf('6865',plain,
~ node211(s9),
inference(resolution,[],['4860','5020']) ).
cnf('6866',plain,
~ node225(s9),
inference(resolution,[then_simplify],['6864','3680','6865']) ).
cnf('6867',plain,
~ until226(s9),
inference(resolution,[then_simplify],['6855','5023','6866']) ).
cnf('6868',plain,
( ~ always208(s9)
| always208(s10) ),
inference(resolution,[],['1214','5656']) ).
cnf('6869',plain,
~ always208(s9),
inference(resolution,[],['6787','6868']) ).
cnf('6870',plain,
~ node209(s9),
inference(resolution,[],['6869','5032']) ).
cnf('6871',plain,
~ node230(s9),
inference(resolution,[then_simplify],['6867','5028','6870']) ).
cnf('6872',plain,
~ until231(s9),
inference(resolution,[then_simplify],['6853','5035','6871']) ).
cnf('6873',plain,
m_state_v_DBM(c_s,s9,c_run),
inference(resolution,[],['5101','5109']) ).
cnf('6874',plain,
~ always206(s9),
inference(resolution,[then_simplify],['4860','5041','6873']) ).
cnf('6875',plain,
~ node207(s9),
inference(resolution,[],['6874','5190']) ).
cnf('6876',plain,
~ node235(s9),
inference(resolution,[then_simplify],['6872','5040','6875']) ).
cnf('6877',plain,
~ until236(s9),
inference(resolution,[then_simplify],['6851','5193','6876']) ).
cnf('6878',plain,
~ node205(s9),
inference(resolution,[],['3872','5804']) ).
cnf('6879',plain,
~ node240(s9),
inference(resolution,[then_simplify],['6877','5198','6878']) ).
cnf('6880',plain,
~ until241(s9),
inference(resolution,[then_simplify],['6849','5205','6879']) ).
cnf('6881',plain,
( ~ always202(s9)
| always202(s10) ),
inference(resolution,[],['1214','5673']) ).
cnf('6882',plain,
~ always202(s9),
inference(resolution,[],['6801','6881']) ).
cnf('6883',plain,
~ node203(s9),
inference(resolution,[],['6882','5214']) ).
cnf('6884',plain,
~ node245(s9),
inference(resolution,[then_simplify],['6880','5210','6883']) ).
cnf('6885',plain,
~ until246(s9),
inference(resolution,[then_simplify],['6847','5217','6884']) ).
cnf('6886',plain,
~ node201(s9),
inference(resolution,[],['4163','6038']) ).
cnf('6887',plain,
~ node250(s9),
inference(resolution,[then_simplify],['6885','5222','6886']) ).
cnf('6888',plain,
~ until251(s9),
inference(resolution,[then_simplify],['6845','5229','6887']) ).
cnf('6889',plain,
~ node199(s9),
inference(resolution,[],['4153','6131']) ).
cnf('6890',plain,
~ node255(s9),
inference(resolution,[then_simplify],['6888','5234','6889']) ).
cnf('6891',plain,
~ until256(s9),
inference(resolution,[then_simplify],['6843','5241','6890']) ).
cnf('6892',plain,
~ node197(s9),
inference(resolution,[],['3972','6324']) ).
cnf('6893',plain,
~ node260(s9),
inference(resolution,[then_simplify],['6891','5246','6892']) ).
cnf('6894',plain,
~ until261(s9),
inference(resolution,[then_simplify],['6841','5253','6893']) ).
cnf('6895',plain,
~ node195(s9),
inference(resolution,[],['3968','6329']) ).
cnf('6896',plain,
~ node265(s9),
inference(resolution,[then_simplify],['6894','5258','6895']) ).
cnf('6897',plain,
~ until266(s9),
inference(resolution,[then_simplify],['6839','5265','6896']) ).
cnf('6898',plain,
( m_state_v_TRM(c_s,X,c_idle)
| ~ node193(X) ),
inference(cnf_transformation,[],[prpty27]) ).
cnf('6899',plain,
~ node193(s9),
inference(resolution,[],['1929','6898']) ).
cnf('6900',plain,
~ node270(s9),
inference(resolution,[then_simplify],['6897','5270','6899']) ).
cnf('6901',plain,
~ until271(s9),
inference(resolution,[then_simplify],['6837','5277','6900']) ).
cnf('6902',plain,
~ node191(s9),
inference(resolution,[],['1917','5709']) ).
cnf('6903',plain,
~ node275(s9),
inference(resolution,[then_simplify],['6901','5282','6902']) ).
cnf('6904',plain,
~ until276(s9),
inference(resolution,[then_simplify],['6835','5289','6903']) ).
cnf('6905',plain,
~ node189(s9),
inference(resolution,[],['1592','5576']) ).
cnf('6906',plain,
~ node280(s9),
inference(resolution,[then_simplify],['6904','5294','6905']) ).
cnf('6907',plain,
~ until281(s9),
inference(resolution,[then_simplify],['6833','5579','6906']) ).
cnf('6908',plain,
~ node187(s9),
inference(resolution,[],['1490','5735']) ).
cnf('6909',plain,
~ node285(s9),
inference(resolution,[then_simplify],['6907','5584','6908']) ).
cnf('6910',plain,
~ until286(s9),
inference(resolution,[then_simplify],['6831','5591','6909']) ).
cnf('6911',plain,
( ~ xuntil287(s8)
| until286(s9) ),
inference(resolution,[],['1109','5596']) ).
cnf('6912',plain,
~ xuntil287(s8),
inference(resolution,[],['6910','6911']) ).
cnf('6913',plain,
( ~ xuntil282(s8)
| until281(s9) ),
inference(resolution,[],['1109','5599']) ).
cnf('6914',plain,
~ xuntil282(s8),
inference(resolution,[],['6907','6913']) ).
cnf('6915',plain,
( ~ xuntil277(s8)
| until276(s9) ),
inference(resolution,[],['1109','5602']) ).
cnf('6916',plain,
~ xuntil277(s8),
inference(resolution,[],['6904','6915']) ).
cnf('6917',plain,
( ~ xuntil272(s8)
| until271(s9) ),
inference(resolution,[],['1109','5605']) ).
cnf('6918',plain,
~ xuntil272(s8),
inference(resolution,[],['6901','6917']) ).
cnf('6919',plain,
( ~ xuntil267(s8)
| until266(s9) ),
inference(resolution,[],['1109','5608']) ).
cnf('6920',plain,
~ xuntil267(s8),
inference(resolution,[],['6897','6919']) ).
cnf('6921',plain,
( ~ xuntil262(s8)
| until261(s9) ),
inference(resolution,[],['1109','5611']) ).
cnf('6922',plain,
~ xuntil262(s8),
inference(resolution,[],['6894','6921']) ).
cnf('6923',plain,
( ~ xuntil257(s8)
| until256(s9) ),
inference(resolution,[],['1109','5614']) ).
cnf('6924',plain,
~ xuntil257(s8),
inference(resolution,[],['6891','6923']) ).
cnf('6925',plain,
( ~ xuntil252(s8)
| until251(s9) ),
inference(resolution,[],['1109','5617']) ).
cnf('6926',plain,
~ xuntil252(s8),
inference(resolution,[],['6888','6925']) ).
cnf('6927',plain,
( ~ xuntil247(s8)
| until246(s9) ),
inference(resolution,[],['1109','5620']) ).
cnf('6928',plain,
~ xuntil247(s8),
inference(resolution,[],['6885','6927']) ).
cnf('6929',plain,
( ~ xuntil242(s8)
| until241(s9) ),
inference(resolution,[],['1109','5623']) ).
cnf('6930',plain,
~ xuntil242(s8),
inference(resolution,[],['6880','6929']) ).
cnf('6931',plain,
( ~ xuntil237(s8)
| until236(s9) ),
inference(resolution,[],['1109','5626']) ).
cnf('6932',plain,
~ xuntil237(s8),
inference(resolution,[],['6877','6931']) ).
cnf('6933',plain,
( ~ xuntil232(s8)
| until231(s9) ),
inference(resolution,[],['1109','5629']) ).
cnf('6934',plain,
~ xuntil232(s8),
inference(resolution,[],['6872','6933']) ).
cnf('6935',plain,
( ~ xuntil227(s8)
| until226(s9) ),
inference(resolution,[],['1109','5632']) ).
cnf('6936',plain,
~ xuntil227(s8),
inference(resolution,[],['6867','6935']) ).
cnf('6937',plain,
( ~ xuntil222(s8)
| until221(s9) ),
inference(resolution,[],['1109','5635']) ).
cnf('6938',plain,
~ xuntil222(s8),
inference(resolution,[],['6864','6937']) ).
cnf('6939',plain,
( ~ xuntil217(s8)
| until216(s9) ),
inference(resolution,[],['1109','5638']) ).
cnf('6940',plain,
~ xuntil217(s8),
inference(resolution,[],['6861','6939']) ).
cnf('6941',plain,
~ node215(s8),
inference(resolution,[],['2737','5769']) ).
cnf('6942',plain,
~ until216(s8),
inference(resolution,[then_simplify],['6940','3667','6941']) ).
cnf('6943',plain,
~ node213(s8),
inference(resolution,[],['2755','3672']) ).
cnf('6944',plain,
~ node220(s8),
inference(resolution,[then_simplify],['6942','3671','6943']) ).
cnf('6945',plain,
~ until221(s8),
inference(resolution,[then_simplify],['6938','3675','6944']) ).
cnf('6946',plain,
~ node211(s8),
inference(resolution,[],['4853','5020']) ).
cnf('6947',plain,
~ node225(s8),
inference(resolution,[then_simplify],['6945','3680','6946']) ).
cnf('6948',plain,
~ until226(s8),
inference(resolution,[then_simplify],['6936','5023','6947']) ).
cnf('6949',plain,
( ~ always208(s8)
| always208(s9) ),
inference(resolution,[],['1110','5656']) ).
cnf('6950',plain,
~ always208(s8),
inference(resolution,[],['6869','6949']) ).
cnf('6951',plain,
~ node209(s8),
inference(resolution,[],['6950','5032']) ).
cnf('6952',plain,
~ node230(s8),
inference(resolution,[then_simplify],['6948','5028','6951']) ).
cnf('6953',plain,
~ until231(s8),
inference(resolution,[then_simplify],['6934','5035','6952']) ).
cnf('6954',plain,
m_state_v_DBM(c_s,s8,c_run),
inference(resolution,[],['5096','5099']) ).
cnf('6955',plain,
~ always206(s8),
inference(resolution,[then_simplify],['4853','5041','6954']) ).
cnf('6956',plain,
~ node207(s8),
inference(resolution,[],['6955','5190']) ).
cnf('6957',plain,
~ node235(s8),
inference(resolution,[then_simplify],['6953','5040','6956']) ).
cnf('6958',plain,
~ until236(s8),
inference(resolution,[then_simplify],['6932','5193','6957']) ).
cnf('6959',plain,
~ node205(s8),
inference(resolution,[],['3838','5804']) ).
cnf('6960',plain,
~ node240(s8),
inference(resolution,[then_simplify],['6958','5198','6959']) ).
cnf('6961',plain,
~ until241(s8),
inference(resolution,[then_simplify],['6930','5205','6960']) ).
cnf('6962',plain,
( ~ always202(s8)
| always202(s9) ),
inference(resolution,[],['1110','5673']) ).
cnf('6963',plain,
~ always202(s8),
inference(resolution,[],['6882','6962']) ).
cnf('6964',plain,
~ node203(s8),
inference(resolution,[],['6963','5214']) ).
cnf('6965',plain,
~ node245(s8),
inference(resolution,[then_simplify],['6961','5210','6964']) ).
cnf('6966',plain,
~ until246(s8),
inference(resolution,[then_simplify],['6928','5217','6965']) ).
cnf('6967',plain,
~ node201(s8),
inference(resolution,[],['4118','6038']) ).
cnf('6968',plain,
~ node250(s8),
inference(resolution,[then_simplify],['6966','5222','6967']) ).
cnf('6969',plain,
~ until251(s8),
inference(resolution,[then_simplify],['6926','5229','6968']) ).
cnf('6970',plain,
~ node199(s8),
inference(resolution,[],['3944','6131']) ).
cnf('6971',plain,
~ node255(s8),
inference(resolution,[then_simplify],['6969','5234','6970']) ).
cnf('6972',plain,
~ until256(s8),
inference(resolution,[then_simplify],['6924','5241','6971']) ).
cnf('6973',plain,
~ node197(s8),
inference(resolution,[],['3858','6324']) ).
cnf('6974',plain,
~ node260(s8),
inference(resolution,[then_simplify],['6972','5246','6973']) ).
cnf('6975',plain,
~ until261(s8),
inference(resolution,[then_simplify],['6922','5253','6974']) ).
cnf('6976',plain,
~ node195(s8),
inference(resolution,[],['3854','6329']) ).
cnf('6977',plain,
~ node265(s8),
inference(resolution,[then_simplify],['6975','5258','6976']) ).
cnf('6978',plain,
~ until266(s8),
inference(resolution,[then_simplify],['6920','5265','6977']) ).
cnf('6979',plain,
( ~ always192(s16)
| always192(s17) ),
inference(resolution,[],['3274','5703']) ).
cnf('6980',plain,
~ always192(s16),
inference(resolution,[],['6058','6979']) ).
cnf('6981',plain,
( ~ always192(s15)
| always192(s16) ),
inference(resolution,[],['2150','5703']) ).
cnf('6982',plain,
~ always192(s15),
inference(resolution,[],['6980','6981']) ).
cnf('6983',plain,
( ~ always192(s14)
| always192(s15) ),
inference(resolution,[],['2121','5703']) ).
cnf('6984',plain,
~ always192(s14),
inference(resolution,[],['6982','6983']) ).
cnf('6985',plain,
( ~ always192(s13)
| always192(s14) ),
inference(resolution,[],['2062','5703']) ).
cnf('6986',plain,
~ always192(s13),
inference(resolution,[],['6984','6985']) ).
cnf('6987',plain,
( ~ always192(s12)
| always192(s13) ),
inference(resolution,[],['2036','5703']) ).
cnf('6988',plain,
~ always192(s12),
inference(resolution,[],['6986','6987']) ).
cnf('6989',plain,
( ~ always192(s11)
| always192(s12) ),
inference(resolution,[],['1940','5703']) ).
cnf('6990',plain,
~ always192(s11),
inference(resolution,[],['6988','6989']) ).
cnf('6991',plain,
( ~ always192(s10)
| always192(s11) ),
inference(resolution,[],['1610','5703']) ).
cnf('6992',plain,
~ always192(s10),
inference(resolution,[],['6990','6991']) ).
cnf('6993',plain,
( ~ always192(s9)
| always192(s10) ),
inference(resolution,[],['1214','5703']) ).
cnf('6994',plain,
~ always192(s9),
inference(resolution,[],['6992','6993']) ).
cnf('6995',plain,
( ~ always192(s8)
| always192(s9) ),
inference(resolution,[],['1110','5703']) ).
cnf('6996',plain,
~ always192(s8),
inference(resolution,[],['6994','6995']) ).
cnf('6997',plain,
~ node193(s8),
inference(resolution,[],['6996','5274']) ).
cnf('6998',plain,
~ node270(s8),
inference(resolution,[then_simplify],['6978','5270','6997']) ).
cnf('6999',plain,
~ until271(s8),
inference(resolution,[then_simplify],['6918','5277','6998']) ).
cnf('7000',plain,
~ node191(s8),
inference(resolution,[],['1483','5709']) ).
cnf('7001',plain,
~ node275(s8),
inference(resolution,[then_simplify],['6999','5282','7000']) ).
cnf('7002',plain,
~ until276(s8),
inference(resolution,[then_simplify],['6916','5289','7001']) ).
cnf('7003',plain,
~ node189(s8),
inference(resolution,[],['1599','5576']) ).
cnf('7004',plain,
~ node280(s8),
inference(resolution,[then_simplify],['7002','5294','7003']) ).
cnf('7005',plain,
~ until281(s8),
inference(resolution,[then_simplify],['6914','5579','7004']) ).
cnf('7006',plain,
~ node187(s8),
inference(resolution,[],['1450','5735']) ).
cnf('7007',plain,
~ node285(s8),
inference(resolution,[then_simplify],['7005','5584','7006']) ).
cnf('7008',plain,
~ until286(s8),
inference(resolution,[then_simplify],['6912','5591','7007']) ).
cnf('7009',plain,
( ~ xuntil287(s7)
| until286(s8) ),
inference(resolution,[],['1098','5596']) ).
cnf('7010',plain,
~ xuntil287(s7),
inference(resolution,[],['7008','7009']) ).
cnf('7011',plain,
( ~ xuntil282(s7)
| until281(s8) ),
inference(resolution,[],['1098','5599']) ).
cnf('7012',plain,
~ xuntil282(s7),
inference(resolution,[],['7005','7011']) ).
cnf('7013',plain,
( ~ xuntil277(s7)
| until276(s8) ),
inference(resolution,[],['1098','5602']) ).
cnf('7014',plain,
~ xuntil277(s7),
inference(resolution,[],['7002','7013']) ).
cnf('7015',plain,
( ~ xuntil272(s7)
| until271(s8) ),
inference(resolution,[],['1098','5605']) ).
cnf('7016',plain,
~ xuntil272(s7),
inference(resolution,[],['6999','7015']) ).
cnf('7017',plain,
( ~ xuntil267(s7)
| until266(s8) ),
inference(resolution,[],['1098','5608']) ).
cnf('7018',plain,
~ xuntil267(s7),
inference(resolution,[],['6978','7017']) ).
cnf('7019',plain,
( ~ xuntil262(s7)
| until261(s8) ),
inference(resolution,[],['1098','5611']) ).
cnf('7020',plain,
~ xuntil262(s7),
inference(resolution,[],['6975','7019']) ).
cnf('7021',plain,
( ~ xuntil257(s7)
| until256(s8) ),
inference(resolution,[],['1098','5614']) ).
cnf('7022',plain,
~ xuntil257(s7),
inference(resolution,[],['6972','7021']) ).
cnf('7023',plain,
( ~ xuntil252(s7)
| until251(s8) ),
inference(resolution,[],['1098','5617']) ).
cnf('7024',plain,
~ xuntil252(s7),
inference(resolution,[],['6969','7023']) ).
cnf('7025',plain,
( ~ xuntil247(s7)
| until246(s8) ),
inference(resolution,[],['1098','5620']) ).
cnf('7026',plain,
~ xuntil247(s7),
inference(resolution,[],['6966','7025']) ).
cnf('7027',plain,
( ~ xuntil242(s7)
| until241(s8) ),
inference(resolution,[],['1098','5623']) ).
cnf('7028',plain,
~ xuntil242(s7),
inference(resolution,[],['6961','7027']) ).
cnf('7029',plain,
( ~ xuntil237(s7)
| until236(s8) ),
inference(resolution,[],['1098','5626']) ).
cnf('7030',plain,
~ xuntil237(s7),
inference(resolution,[],['6958','7029']) ).
cnf('7031',plain,
( ~ xuntil232(s7)
| until231(s8) ),
inference(resolution,[],['1098','5629']) ).
cnf('7032',plain,
~ xuntil232(s7),
inference(resolution,[],['6953','7031']) ).
cnf('7033',plain,
( ~ xuntil227(s7)
| until226(s8) ),
inference(resolution,[],['1098','5632']) ).
cnf('7034',plain,
~ xuntil227(s7),
inference(resolution,[],['6948','7033']) ).
cnf('7035',plain,
( ~ xuntil222(s7)
| until221(s8) ),
inference(resolution,[],['1098','5635']) ).
cnf('7036',plain,
~ xuntil222(s7),
inference(resolution,[],['6945','7035']) ).
cnf('7037',plain,
( ~ xuntil217(s7)
| until216(s8) ),
inference(resolution,[],['1098','5638']) ).
cnf('7038',plain,
~ xuntil217(s7),
inference(resolution,[],['6942','7037']) ).
cnf('7039',plain,
~ node215(s7),
inference(resolution,[],['2704','5769']) ).
cnf('7040',plain,
~ until216(s7),
inference(resolution,[then_simplify],['7038','3667','7039']) ).
cnf('7041',plain,
~ node213(s7),
inference(resolution,[],['2679','3672']) ).
cnf('7042',plain,
~ node220(s7),
inference(resolution,[then_simplify],['7040','3671','7041']) ).
cnf('7043',plain,
~ until221(s7),
inference(resolution,[then_simplify],['7036','3675','7042']) ).
cnf('7044',plain,
~ node211(s7),
inference(resolution,[],['4828','5020']) ).
cnf('7045',plain,
~ node225(s7),
inference(resolution,[then_simplify],['7043','3680','7044']) ).
cnf('7046',plain,
~ until226(s7),
inference(resolution,[then_simplify],['7034','5023','7045']) ).
cnf('7047',plain,
( ~ always208(s7)
| always208(s8) ),
inference(resolution,[],['1099','5656']) ).
cnf('7048',plain,
~ always208(s7),
inference(resolution,[],['6950','7047']) ).
cnf('7049',plain,
~ node209(s7),
inference(resolution,[],['7048','5032']) ).
cnf('7050',plain,
~ node230(s7),
inference(resolution,[then_simplify],['7046','5028','7049']) ).
cnf('7051',plain,
~ until231(s7),
inference(resolution,[then_simplify],['7032','5035','7050']) ).
cnf('7052',plain,
m_state_v_DBM(c_s,s7,c_run),
inference(resolution,[],['5089','5097']) ).
cnf('7053',plain,
~ always206(s7),
inference(resolution,[then_simplify],['4828','5041','7052']) ).
cnf('7054',plain,
~ node207(s7),
inference(resolution,[],['7053','5190']) ).
cnf('7055',plain,
~ node235(s7),
inference(resolution,[then_simplify],['7051','5040','7054']) ).
cnf('7056',plain,
~ until236(s7),
inference(resolution,[then_simplify],['7030','5193','7055']) ).
cnf('7057',plain,
~ node205(s7),
inference(resolution,[],['3734','5804']) ).
cnf('7058',plain,
~ node240(s7),
inference(resolution,[then_simplify],['7056','5198','7057']) ).
cnf('7059',plain,
~ until241(s7),
inference(resolution,[then_simplify],['7028','5205','7058']) ).
cnf('7060',plain,
( ~ always202(s7)
| always202(s8) ),
inference(resolution,[],['1099','5673']) ).
cnf('7061',plain,
~ always202(s7),
inference(resolution,[],['6963','7060']) ).
cnf('7062',plain,
~ node203(s7),
inference(resolution,[],['7061','5214']) ).
cnf('7063',plain,
~ node245(s7),
inference(resolution,[then_simplify],['7059','5210','7062']) ).
cnf('7064',plain,
~ until246(s7),
inference(resolution,[then_simplify],['7026','5217','7063']) ).
cnf('7065',plain,
~ node201(s7),
inference(resolution,[],['4100','6038']) ).
cnf('7066',plain,
~ node250(s7),
inference(resolution,[then_simplify],['7064','5222','7065']) ).
cnf('7067',plain,
~ until251(s7),
inference(resolution,[then_simplify],['7024','5229','7066']) ).
cnf('7068',plain,
~ node199(s7),
inference(resolution,[],['1669','6131']) ).
cnf('7069',plain,
~ node255(s7),
inference(resolution,[then_simplify],['7067','5234','7068']) ).
cnf('7070',plain,
~ until256(s7),
inference(resolution,[then_simplify],['7022','5241','7069']) ).
cnf('7071',plain,
~ node197(s7),
inference(resolution,[],['1674','6324']) ).
cnf('7072',plain,
~ node260(s7),
inference(resolution,[then_simplify],['7070','5246','7071']) ).
cnf('7073',plain,
~ until261(s7),
inference(resolution,[then_simplify],['7020','5253','7072']) ).
cnf('7074',plain,
~ node195(s7),
inference(resolution,[],['1672','6329']) ).
cnf('7075',plain,
~ node265(s7),
inference(resolution,[then_simplify],['7073','5258','7074']) ).
cnf('7076',plain,
~ until266(s7),
inference(resolution,[then_simplify],['7018','5265','7075']) ).
cnf('7077',plain,
( ~ always192(s7)
| always192(s8) ),
inference(resolution,[],['1099','5703']) ).
cnf('7078',plain,
~ always192(s7),
inference(resolution,[],['6996','7077']) ).
cnf('7079',plain,
~ node193(s7),
inference(resolution,[],['7078','5274']) ).
cnf('7080',plain,
~ node270(s7),
inference(resolution,[then_simplify],['7076','5270','7079']) ).
cnf('7081',plain,
~ until271(s7),
inference(resolution,[then_simplify],['7016','5277','7080']) ).
cnf('7082',plain,
~ node191(s7),
inference(resolution,[],['1443','5709']) ).
cnf('7083',plain,
~ node275(s7),
inference(resolution,[then_simplify],['7081','5282','7082']) ).
cnf('7084',plain,
~ until276(s7),
inference(resolution,[then_simplify],['7014','5289','7083']) ).
cnf('7085',plain,
~ node189(s7),
inference(resolution,[],['1566','5576']) ).
cnf('7086',plain,
~ node280(s7),
inference(resolution,[then_simplify],['7084','5294','7085']) ).
cnf('7087',plain,
~ until281(s7),
inference(resolution,[then_simplify],['7012','5579','7086']) ).
cnf('7088',plain,
~ node187(s7),
inference(resolution,[],['1404','5735']) ).
cnf('7089',plain,
~ node285(s7),
inference(resolution,[then_simplify],['7087','5584','7088']) ).
cnf('7090',plain,
~ until286(s7),
inference(resolution,[then_simplify],['7010','5591','7089']) ).
cnf('7091',plain,
( ~ xuntil287(s6)
| until286(s7) ),
inference(resolution,[],['948','5596']) ).
cnf('7092',plain,
~ xuntil287(s6),
inference(resolution,[],['7090','7091']) ).
cnf('7093',plain,
( ~ xuntil282(s6)
| until281(s7) ),
inference(resolution,[],['948','5599']) ).
cnf('7094',plain,
~ xuntil282(s6),
inference(resolution,[],['7087','7093']) ).
cnf('7095',plain,
( ~ xuntil277(s6)
| until276(s7) ),
inference(resolution,[],['948','5602']) ).
cnf('7096',plain,
~ xuntil277(s6),
inference(resolution,[],['7084','7095']) ).
cnf('7097',plain,
( ~ xuntil272(s6)
| until271(s7) ),
inference(resolution,[],['948','5605']) ).
cnf('7098',plain,
~ xuntil272(s6),
inference(resolution,[],['7081','7097']) ).
cnf('7099',plain,
( ~ xuntil267(s6)
| until266(s7) ),
inference(resolution,[],['948','5608']) ).
cnf('7100',plain,
~ xuntil267(s6),
inference(resolution,[],['7076','7099']) ).
cnf('7101',plain,
( ~ xuntil262(s6)
| until261(s7) ),
inference(resolution,[],['948','5611']) ).
cnf('7102',plain,
~ xuntil262(s6),
inference(resolution,[],['7073','7101']) ).
cnf('7103',plain,
( ~ xuntil257(s6)
| until256(s7) ),
inference(resolution,[],['948','5614']) ).
cnf('7104',plain,
~ xuntil257(s6),
inference(resolution,[],['7070','7103']) ).
cnf('7105',plain,
( ~ xuntil252(s6)
| until251(s7) ),
inference(resolution,[],['948','5617']) ).
cnf('7106',plain,
~ xuntil252(s6),
inference(resolution,[],['7067','7105']) ).
cnf('7107',plain,
( ~ xuntil247(s6)
| until246(s7) ),
inference(resolution,[],['948','5620']) ).
cnf('7108',plain,
~ xuntil247(s6),
inference(resolution,[],['7064','7107']) ).
cnf('7109',plain,
( ~ xuntil242(s6)
| until241(s7) ),
inference(resolution,[],['948','5623']) ).
cnf('7110',plain,
~ xuntil242(s6),
inference(resolution,[],['7059','7109']) ).
cnf('7111',plain,
( ~ xuntil237(s6)
| until236(s7) ),
inference(resolution,[],['948','5626']) ).
cnf('7112',plain,
~ xuntil237(s6),
inference(resolution,[],['7056','7111']) ).
cnf('7113',plain,
( ~ xuntil232(s6)
| until231(s7) ),
inference(resolution,[],['948','5629']) ).
cnf('7114',plain,
~ xuntil232(s6),
inference(resolution,[],['7051','7113']) ).
cnf('7115',plain,
( ~ xuntil227(s6)
| until226(s7) ),
inference(resolution,[],['948','5632']) ).
cnf('7116',plain,
~ xuntil227(s6),
inference(resolution,[],['7046','7115']) ).
cnf('7117',plain,
( ~ xuntil222(s6)
| until221(s7) ),
inference(resolution,[],['948','5635']) ).
cnf('7118',plain,
~ xuntil222(s6),
inference(resolution,[],['7043','7117']) ).
cnf('7119',plain,
( ~ xuntil217(s6)
| until216(s7) ),
inference(resolution,[],['948','5638']) ).
cnf('7120',plain,
~ xuntil217(s6),
inference(resolution,[],['7040','7119']) ).
cnf('7121',plain,
~ node215(s6),
inference(resolution,[],['2570','5769']) ).
cnf('7122',plain,
~ until216(s6),
inference(resolution,[then_simplify],['7120','3667','7121']) ).
cnf('7123',plain,
~ node213(s6),
inference(resolution,[],['2590','3672']) ).
cnf('7124',plain,
~ node220(s6),
inference(resolution,[then_simplify],['7122','3671','7123']) ).
cnf('7125',plain,
~ until221(s6),
inference(resolution,[then_simplify],['7118','3675','7124']) ).
cnf('7126',plain,
~ node211(s6),
inference(resolution,[],['4821','5020']) ).
cnf('7127',plain,
~ node225(s6),
inference(resolution,[then_simplify],['7125','3680','7126']) ).
cnf('7128',plain,
~ until226(s6),
inference(resolution,[then_simplify],['7116','5023','7127']) ).
cnf('7129',plain,
( ~ always208(s6)
| always208(s7) ),
inference(resolution,[],['949','5656']) ).
cnf('7130',plain,
~ always208(s6),
inference(resolution,[],['7048','7129']) ).
cnf('7131',plain,
~ node209(s6),
inference(resolution,[],['7130','5032']) ).
cnf('7132',plain,
~ node230(s6),
inference(resolution,[then_simplify],['7128','5028','7131']) ).
cnf('7133',plain,
~ until231(s6),
inference(resolution,[then_simplify],['7114','5035','7132']) ).
cnf('7134',plain,
m_state_v_DBM(c_s,s6,c_run),
inference(resolution,[],['5075','5082']) ).
cnf('7135',plain,
~ always206(s6),
inference(resolution,[then_simplify],['4821','5041','7134']) ).
cnf('7136',plain,
~ node207(s6),
inference(resolution,[],['7135','5190']) ).
cnf('7137',plain,
~ node235(s6),
inference(resolution,[then_simplify],['7133','5040','7136']) ).
cnf('7138',plain,
~ until236(s6),
inference(resolution,[then_simplify],['7112','5193','7137']) ).
cnf('7139',plain,
~ node205(s6),
inference(resolution,[],['3732','5804']) ).
cnf('7140',plain,
~ node240(s6),
inference(resolution,[then_simplify],['7138','5198','7139']) ).
cnf('7141',plain,
~ until241(s6),
inference(resolution,[then_simplify],['7110','5205','7140']) ).
cnf('7142',plain,
( ~ always202(s6)
| always202(s7) ),
inference(resolution,[],['949','5673']) ).
cnf('7143',plain,
~ always202(s6),
inference(resolution,[],['7061','7142']) ).
cnf('7144',plain,
~ node203(s6),
inference(resolution,[],['7143','5214']) ).
cnf('7145',plain,
~ node245(s6),
inference(resolution,[then_simplify],['7141','5210','7144']) ).
cnf('7146',plain,
~ until246(s6),
inference(resolution,[then_simplify],['7108','5217','7145']) ).
cnf('7147',plain,
~ node201(s6),
inference(resolution,[],['3926','6038']) ).
cnf('7148',plain,
~ node250(s6),
inference(resolution,[then_simplify],['7146','5222','7147']) ).
cnf('7149',plain,
~ until251(s6),
inference(resolution,[then_simplify],['7106','5229','7148']) ).
cnf('7150',plain,
~ node199(s6),
inference(resolution,[],['1167','6131']) ).
cnf('7151',plain,
~ node255(s6),
inference(resolution,[then_simplify],['7149','5234','7150']) ).
cnf('7152',plain,
~ until256(s6),
inference(resolution,[then_simplify],['7104','5241','7151']) ).
cnf('7153',plain,
( m_state_v_A1M(c_s,X,c_extend)
| ~ node197(X) ),
inference(cnf_transformation,[],[prpty40]) ).
cnf('7154',plain,
~ node197(s6),
inference(resolution,[],['1115','7153']) ).
cnf('7155',plain,
~ node260(s6),
inference(resolution,[then_simplify],['7152','5246','7154']) ).
cnf('7156',plain,
~ until261(s6),
inference(resolution,[then_simplify],['7102','5253','7155']) ).
cnf('7157',plain,
( m_state_v_A1M(c_s,X,c_extend)
| ~ node195(X) ),
inference(cnf_transformation,[],[prpty33]) ).
cnf('7158',plain,
~ node195(s6),
inference(resolution,[],['1115','7157']) ).
cnf('7159',plain,
~ node265(s6),
inference(resolution,[then_simplify],['7156','5258','7158']) ).
cnf('7160',plain,
~ until266(s6),
inference(resolution,[then_simplify],['7100','5265','7159']) ).
cnf('7161',plain,
( ~ always192(s6)
| always192(s7) ),
inference(resolution,[],['949','5703']) ).
cnf('7162',plain,
~ always192(s6),
inference(resolution,[],['7078','7161']) ).
cnf('7163',plain,
~ node193(s6),
inference(resolution,[],['7162','5274']) ).
cnf('7164',plain,
~ node270(s6),
inference(resolution,[then_simplify],['7160','5270','7163']) ).
cnf('7165',plain,
~ until271(s6),
inference(resolution,[then_simplify],['7098','5277','7164']) ).
cnf('7166',plain,
~ node191(s6),
inference(resolution,[],['1365','5709']) ).
cnf('7167',plain,
~ node275(s6),
inference(resolution,[then_simplify],['7165','5282','7166']) ).
cnf('7168',plain,
~ until276(s6),
inference(resolution,[then_simplify],['7096','5289','7167']) ).
cnf('7169',plain,
~ node189(s6),
inference(resolution,[],['1572','5576']) ).
cnf('7170',plain,
~ node280(s6),
inference(resolution,[then_simplify],['7168','5294','7169']) ).
cnf('7171',plain,
~ until281(s6),
inference(resolution,[then_simplify],['7094','5579','7170']) ).
cnf('7172',plain,
~ node187(s6),
inference(resolution,[],['1397','5735']) ).
cnf('7173',plain,
~ node285(s6),
inference(resolution,[then_simplify],['7171','5584','7172']) ).
cnf('7174',plain,
~ until286(s6),
inference(resolution,[then_simplify],['7092','5591','7173']) ).
cnf('7175',plain,
( ~ xuntil287(s5)
| until286(s6) ),
inference(resolution,[],['703','5596']) ).
cnf('7176',plain,
~ xuntil287(s5),
inference(resolution,[],['7174','7175']) ).
cnf('7177',plain,
( ~ xuntil282(s5)
| until281(s6) ),
inference(resolution,[],['703','5599']) ).
cnf('7178',plain,
~ xuntil282(s5),
inference(resolution,[],['7171','7177']) ).
cnf('7179',plain,
( ~ xuntil277(s5)
| until276(s6) ),
inference(resolution,[],['703','5602']) ).
cnf('7180',plain,
~ xuntil277(s5),
inference(resolution,[],['7168','7179']) ).
cnf('7181',plain,
( ~ xuntil272(s5)
| until271(s6) ),
inference(resolution,[],['703','5605']) ).
cnf('7182',plain,
~ xuntil272(s5),
inference(resolution,[],['7165','7181']) ).
cnf('7183',plain,
( ~ xuntil267(s5)
| until266(s6) ),
inference(resolution,[],['703','5608']) ).
cnf('7184',plain,
~ xuntil267(s5),
inference(resolution,[],['7160','7183']) ).
cnf('7185',plain,
( ~ xuntil262(s5)
| until261(s6) ),
inference(resolution,[],['703','5611']) ).
cnf('7186',plain,
~ xuntil262(s5),
inference(resolution,[],['7156','7185']) ).
cnf('7187',plain,
( ~ xuntil257(s5)
| until256(s6) ),
inference(resolution,[],['703','5614']) ).
cnf('7188',plain,
~ xuntil257(s5),
inference(resolution,[],['7152','7187']) ).
cnf('7189',plain,
( ~ xuntil252(s5)
| until251(s6) ),
inference(resolution,[],['703','5617']) ).
cnf('7190',plain,
~ xuntil252(s5),
inference(resolution,[],['7149','7189']) ).
cnf('7191',plain,
( ~ xuntil247(s5)
| until246(s6) ),
inference(resolution,[],['703','5620']) ).
cnf('7192',plain,
~ xuntil247(s5),
inference(resolution,[],['7146','7191']) ).
cnf('7193',plain,
( ~ xuntil242(s5)
| until241(s6) ),
inference(resolution,[],['703','5623']) ).
cnf('7194',plain,
~ xuntil242(s5),
inference(resolution,[],['7141','7193']) ).
cnf('7195',plain,
( ~ xuntil237(s5)
| until236(s6) ),
inference(resolution,[],['703','5626']) ).
cnf('7196',plain,
~ xuntil237(s5),
inference(resolution,[],['7138','7195']) ).
cnf('7197',plain,
( ~ xuntil232(s5)
| until231(s6) ),
inference(resolution,[],['703','5629']) ).
cnf('7198',plain,
~ xuntil232(s5),
inference(resolution,[],['7133','7197']) ).
cnf('7199',plain,
( ~ xuntil227(s5)
| until226(s6) ),
inference(resolution,[],['703','5632']) ).
cnf('7200',plain,
~ xuntil227(s5),
inference(resolution,[],['7128','7199']) ).
cnf('7201',plain,
( ~ xuntil222(s5)
| until221(s6) ),
inference(resolution,[],['703','5635']) ).
cnf('7202',plain,
~ xuntil222(s5),
inference(resolution,[],['7125','7201']) ).
cnf('7203',plain,
( ~ xuntil217(s5)
| until216(s6) ),
inference(resolution,[],['703','5638']) ).
cnf('7204',plain,
~ xuntil217(s5),
inference(resolution,[],['7122','7203']) ).
cnf('7205',plain,
~ node215(s5),
inference(resolution,[],['2465','5769']) ).
cnf('7206',plain,
~ until216(s5),
inference(resolution,[then_simplify],['7204','3667','7205']) ).
cnf('7207',plain,
~ node213(s5),
inference(resolution,[],['2488','3672']) ).
cnf('7208',plain,
~ node220(s5),
inference(resolution,[then_simplify],['7206','3671','7207']) ).
cnf('7209',plain,
~ until221(s5),
inference(resolution,[then_simplify],['7202','3675','7208']) ).
cnf('7210',plain,
~ node211(s5),
inference(resolution,[],['4796','5020']) ).
cnf('7211',plain,
~ node225(s5),
inference(resolution,[then_simplify],['7209','3680','7210']) ).
cnf('7212',plain,
~ until226(s5),
inference(resolution,[then_simplify],['7200','5023','7211']) ).
cnf('7213',plain,
( ~ always208(s5)
| always208(s6) ),
inference(resolution,[],['704','5656']) ).
cnf('7214',plain,
~ always208(s5),
inference(resolution,[],['7130','7213']) ).
cnf('7215',plain,
~ node209(s5),
inference(resolution,[],['7214','5032']) ).
cnf('7216',plain,
~ node230(s5),
inference(resolution,[then_simplify],['7212','5028','7215']) ).
cnf('7217',plain,
~ until231(s5),
inference(resolution,[then_simplify],['7198','5035','7216']) ).
cnf('7218',plain,
~ always206(s5),
inference(resolution,[then_simplify],['5074','5041','4820']) ).
cnf('7219',plain,
~ node207(s5),
inference(resolution,[],['7218','5190']) ).
cnf('7220',plain,
~ node235(s5),
inference(resolution,[then_simplify],['7217','5040','7219']) ).
cnf('7221',plain,
~ until236(s5),
inference(resolution,[then_simplify],['7196','5193','7220']) ).
cnf('7222',plain,
~ node205(s5),
inference(resolution,[],['1050','5804']) ).
cnf('7223',plain,
~ node240(s5),
inference(resolution,[then_simplify],['7221','5198','7222']) ).
cnf('7224',plain,
~ until241(s5),
inference(resolution,[then_simplify],['7194','5205','7223']) ).
cnf('7225',plain,
( ~ always202(s5)
| always202(s6) ),
inference(resolution,[],['704','5673']) ).
cnf('7226',plain,
~ always202(s5),
inference(resolution,[],['7143','7225']) ).
cnf('7227',plain,
~ node203(s5),
inference(resolution,[],['7226','5214']) ).
cnf('7228',plain,
~ node245(s5),
inference(resolution,[then_simplify],['7224','5210','7227']) ).
cnf('7229',plain,
~ until246(s5),
inference(resolution,[then_simplify],['7192','5217','7228']) ).
cnf('7230',plain,
~ node201(s5),
inference(resolution,[],['1651','6038']) ).
cnf('7231',plain,
~ node250(s5),
inference(resolution,[then_simplify],['7229','5222','7230']) ).
cnf('7232',plain,
~ until251(s5),
inference(resolution,[then_simplify],['7190','5229','7231']) ).
cnf('7233',plain,
~ node199(s5),
inference(resolution,[],['1025','6131']) ).
cnf('7234',plain,
~ node255(s5),
inference(resolution,[then_simplify],['7232','5234','7233']) ).
cnf('7235',plain,
~ until256(s5),
inference(resolution,[then_simplify],['7188','5241','7234']) ).
cnf('7236',plain,
~ node197(s5),
inference(resolution,[],['961','7153']) ).
cnf('7237',plain,
~ node260(s5),
inference(resolution,[then_simplify],['7235','5246','7236']) ).
cnf('7238',plain,
~ until261(s5),
inference(resolution,[then_simplify],['7186','5253','7237']) ).
cnf('7239',plain,
~ node195(s5),
inference(resolution,[],['961','7157']) ).
cnf('7240',plain,
~ node265(s5),
inference(resolution,[then_simplify],['7238','5258','7239']) ).
cnf('7241',plain,
~ until266(s5),
inference(resolution,[then_simplify],['7184','5265','7240']) ).
cnf('7242',plain,
( ~ always192(s5)
| always192(s6) ),
inference(resolution,[],['704','5703']) ).
cnf('7243',plain,
~ always192(s5),
inference(resolution,[],['7162','7242']) ).
cnf('7244',plain,
~ node193(s5),
inference(resolution,[],['7243','5274']) ).
cnf('7245',plain,
~ node270(s5),
inference(resolution,[then_simplify],['7241','5270','7244']) ).
cnf('7246',plain,
~ until271(s5),
inference(resolution,[then_simplify],['7182','5277','7245']) ).
cnf('7247',plain,
~ node191(s5),
inference(resolution,[],['1368','5709']) ).
cnf('7248',plain,
~ node275(s5),
inference(resolution,[then_simplify],['7246','5282','7247']) ).
cnf('7249',plain,
~ until276(s5),
inference(resolution,[then_simplify],['7180','5289','7248']) ).
cnf('7250',plain,
( m_state_v_FBM(c_s,X,c_on)
| ~ node189(X) ),
inference(cnf_transformation,[],[prpty10]) ).
cnf('7251',plain,
~ node189(s5),
inference(resolution,[],['1392','7250']) ).
cnf('7252',plain,
~ node280(s5),
inference(resolution,[then_simplify],['7249','5294','7251']) ).
cnf('7253',plain,
~ until281(s5),
inference(resolution,[then_simplify],['7178','5579','7252']) ).
cnf('7254',plain,
~ node187(s5),
inference(resolution,[],['1392','5735']) ).
cnf('7255',plain,
~ node285(s5),
inference(resolution,[then_simplify],['7253','5584','7254']) ).
cnf('7256',plain,
~ until286(s5),
inference(resolution,[then_simplify],['7176','5591','7255']) ).
cnf('7257',plain,
( ~ xuntil287(s4)
| until286(s5) ),
inference(resolution,[],['600','5596']) ).
cnf('7258',plain,
~ xuntil287(s4),
inference(resolution,[],['7256','7257']) ).
cnf('7259',plain,
( ~ xuntil282(s4)
| until281(s5) ),
inference(resolution,[],['600','5599']) ).
cnf('7260',plain,
~ xuntil282(s4),
inference(resolution,[],['7253','7259']) ).
cnf('7261',plain,
( ~ xuntil277(s4)
| until276(s5) ),
inference(resolution,[],['600','5602']) ).
cnf('7262',plain,
~ xuntil277(s4),
inference(resolution,[],['7249','7261']) ).
cnf('7263',plain,
( ~ xuntil272(s4)
| until271(s5) ),
inference(resolution,[],['600','5605']) ).
cnf('7264',plain,
~ xuntil272(s4),
inference(resolution,[],['7246','7263']) ).
cnf('7265',plain,
( ~ xuntil267(s4)
| until266(s5) ),
inference(resolution,[],['600','5608']) ).
cnf('7266',plain,
~ xuntil267(s4),
inference(resolution,[],['7241','7265']) ).
cnf('7267',plain,
( ~ xuntil262(s4)
| until261(s5) ),
inference(resolution,[],['600','5611']) ).
cnf('7268',plain,
~ xuntil262(s4),
inference(resolution,[],['7238','7267']) ).
cnf('7269',plain,
( ~ xuntil257(s4)
| until256(s5) ),
inference(resolution,[],['600','5614']) ).
cnf('7270',plain,
~ xuntil257(s4),
inference(resolution,[],['7235','7269']) ).
cnf('7271',plain,
( ~ xuntil252(s4)
| until251(s5) ),
inference(resolution,[],['600','5617']) ).
cnf('7272',plain,
~ xuntil252(s4),
inference(resolution,[],['7232','7271']) ).
cnf('7273',plain,
( ~ xuntil247(s4)
| until246(s5) ),
inference(resolution,[],['600','5620']) ).
cnf('7274',plain,
~ xuntil247(s4),
inference(resolution,[],['7229','7273']) ).
cnf('7275',plain,
( ~ xuntil242(s4)
| until241(s5) ),
inference(resolution,[],['600','5623']) ).
cnf('7276',plain,
~ xuntil242(s4),
inference(resolution,[],['7224','7275']) ).
cnf('7277',plain,
( ~ xuntil237(s4)
| until236(s5) ),
inference(resolution,[],['600','5626']) ).
cnf('7278',plain,
~ xuntil237(s4),
inference(resolution,[],['7221','7277']) ).
cnf('7279',plain,
( ~ xuntil232(s4)
| until231(s5) ),
inference(resolution,[],['600','5629']) ).
cnf('7280',plain,
~ xuntil232(s4),
inference(resolution,[],['7217','7279']) ).
cnf('7281',plain,
( ~ xuntil227(s4)
| until226(s5) ),
inference(resolution,[],['600','5632']) ).
cnf('7282',plain,
~ xuntil227(s4),
inference(resolution,[],['7212','7281']) ).
cnf('7283',plain,
( ~ xuntil222(s4)
| until221(s5) ),
inference(resolution,[],['600','5635']) ).
cnf('7284',plain,
~ xuntil222(s4),
inference(resolution,[],['7209','7283']) ).
cnf('7285',plain,
( ~ xuntil217(s4)
| until216(s5) ),
inference(resolution,[],['600','5638']) ).
cnf('7286',plain,
~ xuntil217(s4),
inference(resolution,[],['7206','7285']) ).
cnf('7287',plain,
~ node215(s4),
inference(resolution,[],['2332','5769']) ).
cnf('7288',plain,
~ until216(s4),
inference(resolution,[then_simplify],['7286','3667','7287']) ).
cnf('7289',plain,
( m_state_v_CMag(c_s,X,c_off)
| ~ node213(X) ),
inference(cnf_transformation,[],[prpty94]) ).
cnf('7290',plain,
~ node213(s4),
inference(resolution,[],['2396','7289']) ).
cnf('7291',plain,
~ node220(s4),
inference(resolution,[then_simplify],['7288','3671','7290']) ).
cnf('7292',plain,
~ until221(s4),
inference(resolution,[then_simplify],['7284','3675','7291']) ).
cnf('7293',plain,
~ node211(s4),
inference(resolution,[],['4789','5020']) ).
cnf('7294',plain,
~ node225(s4),
inference(resolution,[then_simplify],['7292','3680','7293']) ).
cnf('7295',plain,
~ until226(s4),
inference(resolution,[then_simplify],['7282','5023','7294']) ).
cnf('7296',plain,
( ~ always208(s4)
| always208(s5) ),
inference(resolution,[],['601','5656']) ).
cnf('7297',plain,
~ always208(s4),
inference(resolution,[],['7214','7296']) ).
cnf('7298',plain,
~ node209(s4),
inference(resolution,[],['7297','5032']) ).
cnf('7299',plain,
~ node230(s4),
inference(resolution,[then_simplify],['7295','5028','7298']) ).
cnf('7300',plain,
~ until231(s4),
inference(resolution,[then_simplify],['7280','5035','7299']) ).
cnf('7301',plain,
~ always206(s4),
inference(resolution,[then_simplify],['5064','5041','4795']) ).
cnf('7302',plain,
~ node207(s4),
inference(resolution,[],['7301','5190']) ).
cnf('7303',plain,
~ node235(s4),
inference(resolution,[then_simplify],['7300','5040','7302']) ).
cnf('7304',plain,
~ until236(s4),
inference(resolution,[then_simplify],['7278','5193','7303']) ).
cnf('7305',plain,
~ node205(s4),
inference(resolution,[],['855','5804']) ).
cnf('7306',plain,
~ node240(s4),
inference(resolution,[then_simplify],['7304','5198','7305']) ).
cnf('7307',plain,
~ until241(s4),
inference(resolution,[then_simplify],['7276','5205','7306']) ).
cnf('7308',plain,
( ~ always202(s4)
| always202(s5) ),
inference(resolution,[],['601','5673']) ).
cnf('7309',plain,
~ always202(s4),
inference(resolution,[],['7226','7308']) ).
cnf('7310',plain,
~ node203(s4),
inference(resolution,[],['7309','5214']) ).
cnf('7311',plain,
~ node245(s4),
inference(resolution,[then_simplify],['7307','5210','7310']) ).
cnf('7312',plain,
~ until246(s4),
inference(resolution,[then_simplify],['7274','5217','7311']) ).
cnf('7313',plain,
~ node201(s4),
inference(resolution,[],['1149','6038']) ).
cnf('7314',plain,
~ node250(s4),
inference(resolution,[then_simplify],['7312','5222','7313']) ).
cnf('7315',plain,
~ until251(s4),
inference(resolution,[then_simplify],['7272','5229','7314']) ).
cnf('7316',plain,
~ node199(s4),
inference(resolution,[],['901','6131']) ).
cnf('7317',plain,
~ node255(s4),
inference(resolution,[then_simplify],['7315','5234','7316']) ).
cnf('7318',plain,
~ until256(s4),
inference(resolution,[then_simplify],['7270','5241','7317']) ).
cnf('7319',plain,
( ~ m_state_v_a1ext(X,Y,c_a1ip)
| ~ m_state_v_a1ext(X,Y,c_ot) ),
inference(cnf_transformation,[],[m_state_44]) ).
cnf('7320',plain,
~ m_state_v_a1ext(c_s,s4,c_a1ip),
inference(resolution,[],['616','7319']) ).
cnf('7321',plain,
~ node197(s4),
inference(resolution,[],['7320','6324']) ).
cnf('7322',plain,
~ node260(s4),
inference(resolution,[then_simplify],['7318','5246','7321']) ).
cnf('7323',plain,
~ until261(s4),
inference(resolution,[then_simplify],['7268','5253','7322']) ).
cnf('7324',plain,
( ~ always194(s15)
| always194(s16) ),
inference(resolution,[],['2150','5697']) ).
cnf('7325',plain,
~ always194(s15),
inference(resolution,[],['6141','7324']) ).
cnf('7326',plain,
( ~ always194(s14)
| always194(s15) ),
inference(resolution,[],['2121','5697']) ).
cnf('7327',plain,
~ always194(s14),
inference(resolution,[],['7325','7326']) ).
cnf('7328',plain,
( ~ always194(s13)
| always194(s14) ),
inference(resolution,[],['2062','5697']) ).
cnf('7329',plain,
~ always194(s13),
inference(resolution,[],['7327','7328']) ).
cnf('7330',plain,
( ~ always194(s12)
| always194(s13) ),
inference(resolution,[],['2036','5697']) ).
cnf('7331',plain,
~ always194(s12),
inference(resolution,[],['7329','7330']) ).
cnf('7332',plain,
( ~ always194(s11)
| always194(s12) ),
inference(resolution,[],['1940','5697']) ).
cnf('7333',plain,
~ always194(s11),
inference(resolution,[],['7331','7332']) ).
cnf('7334',plain,
( ~ always194(s10)
| always194(s11) ),
inference(resolution,[],['1610','5697']) ).
cnf('7335',plain,
~ always194(s10),
inference(resolution,[],['7333','7334']) ).
cnf('7336',plain,
( ~ always194(s9)
| always194(s10) ),
inference(resolution,[],['1214','5697']) ).
cnf('7337',plain,
~ always194(s9),
inference(resolution,[],['7335','7336']) ).
cnf('7338',plain,
( ~ always194(s8)
| always194(s9) ),
inference(resolution,[],['1110','5697']) ).
cnf('7339',plain,
~ always194(s8),
inference(resolution,[],['7337','7338']) ).
cnf('7340',plain,
( ~ always194(s7)
| always194(s8) ),
inference(resolution,[],['1099','5697']) ).
cnf('7341',plain,
~ always194(s7),
inference(resolution,[],['7339','7340']) ).
cnf('7342',plain,
( ~ always194(s6)
| always194(s7) ),
inference(resolution,[],['949','5697']) ).
cnf('7343',plain,
~ always194(s6),
inference(resolution,[],['7341','7342']) ).
cnf('7344',plain,
( ~ always194(s5)
| always194(s6) ),
inference(resolution,[],['704','5697']) ).
cnf('7345',plain,
~ always194(s5),
inference(resolution,[],['7343','7344']) ).
cnf('7346',plain,
( ~ always194(s4)
| always194(s5) ),
inference(resolution,[],['601','5697']) ).
cnf('7347',plain,
~ always194(s4),
inference(resolution,[],['7345','7346']) ).
cnf('7348',plain,
~ node195(s4),
inference(resolution,[],['7347','5262']) ).
cnf('7349',plain,
~ node265(s4),
inference(resolution,[then_simplify],['7323','5258','7348']) ).
cnf('7350',plain,
~ until266(s4),
inference(resolution,[then_simplify],['7266','5265','7349']) ).
cnf('7351',plain,
( ~ m_state_v_a1ext(c_s,X,c_ot)
| ~ m_state_v_A1M(c_s,X,c_extend)
| ~ m_state_v_angle(c_s,X,c_arm1totable)
| ~ always192(X) ),
inference(cnf_transformation,[],[prpty21]) ).
cnf('7352',plain,
~ always192(s4),
inference(resolution,[then_simplify],['395','7351','835','827']) ).
cnf('7353',plain,
~ node193(s4),
inference(resolution,[],['7352','5274']) ).
cnf('7354',plain,
~ node270(s4),
inference(resolution,[then_simplify],['7350','5270','7353']) ).
cnf('7355',plain,
~ until271(s4),
inference(resolution,[then_simplify],['7264','5277','7354']) ).
cnf('7356',plain,
~ node191(s4),
inference(resolution,[],['1341','5709']) ).
cnf('7357',plain,
~ node275(s4),
inference(resolution,[then_simplify],['7355','5282','7356']) ).
cnf('7358',plain,
~ until276(s4),
inference(resolution,[then_simplify],['7262','5289','7357']) ).
cnf('7359',plain,
~ node189(s4),
inference(resolution,[],['1385','7250']) ).
cnf('7360',plain,
~ node280(s4),
inference(resolution,[then_simplify],['7358','5294','7359']) ).
cnf('7361',plain,
~ until281(s4),
inference(resolution,[then_simplify],['7260','5579','7360']) ).
cnf('7362',plain,
~ node187(s4),
inference(resolution,[],['1385','5735']) ).
cnf('7363',plain,
~ node285(s4),
inference(resolution,[then_simplify],['7361','5584','7362']) ).
cnf('7364',plain,
~ until286(s4),
inference(resolution,[then_simplify],['7258','5591','7363']) ).
cnf('7365',plain,
( ~ xuntil287(s3)
| until286(s4) ),
inference(resolution,[],['385','5596']) ).
cnf('7366',plain,
~ xuntil287(s3),
inference(resolution,[],['7364','7365']) ).
cnf('7367',plain,
( ~ xuntil282(s3)
| until281(s4) ),
inference(resolution,[],['385','5599']) ).
cnf('7368',plain,
~ xuntil282(s3),
inference(resolution,[],['7361','7367']) ).
cnf('7369',plain,
( ~ xuntil277(s3)
| until276(s4) ),
inference(resolution,[],['385','5602']) ).
cnf('7370',plain,
~ xuntil277(s3),
inference(resolution,[],['7358','7369']) ).
cnf('7371',plain,
( ~ xuntil272(s3)
| until271(s4) ),
inference(resolution,[],['385','5605']) ).
cnf('7372',plain,
~ xuntil272(s3),
inference(resolution,[],['7355','7371']) ).
cnf('7373',plain,
( ~ xuntil267(s3)
| until266(s4) ),
inference(resolution,[],['385','5608']) ).
cnf('7374',plain,
~ xuntil267(s3),
inference(resolution,[],['7350','7373']) ).
cnf('7375',plain,
( ~ xuntil262(s3)
| until261(s4) ),
inference(resolution,[],['385','5611']) ).
cnf('7376',plain,
~ xuntil262(s3),
inference(resolution,[],['7323','7375']) ).
cnf('7377',plain,
( ~ xuntil257(s3)
| until256(s4) ),
inference(resolution,[],['385','5614']) ).
cnf('7378',plain,
~ xuntil257(s3),
inference(resolution,[],['7318','7377']) ).
cnf('7379',plain,
( ~ xuntil252(s3)
| until251(s4) ),
inference(resolution,[],['385','5617']) ).
cnf('7380',plain,
~ xuntil252(s3),
inference(resolution,[],['7315','7379']) ).
cnf('7381',plain,
( ~ xuntil247(s3)
| until246(s4) ),
inference(resolution,[],['385','5620']) ).
cnf('7382',plain,
~ xuntil247(s3),
inference(resolution,[],['7312','7381']) ).
cnf('7383',plain,
( ~ xuntil242(s3)
| until241(s4) ),
inference(resolution,[],['385','5623']) ).
cnf('7384',plain,
~ xuntil242(s3),
inference(resolution,[],['7307','7383']) ).
cnf('7385',plain,
( ~ xuntil237(s3)
| until236(s4) ),
inference(resolution,[],['385','5626']) ).
cnf('7386',plain,
~ xuntil237(s3),
inference(resolution,[],['7304','7385']) ).
cnf('7387',plain,
( ~ xuntil232(s3)
| until231(s4) ),
inference(resolution,[],['385','5629']) ).
cnf('7388',plain,
~ xuntil232(s3),
inference(resolution,[],['7300','7387']) ).
cnf('7389',plain,
( ~ xuntil227(s3)
| until226(s4) ),
inference(resolution,[],['385','5632']) ).
cnf('7390',plain,
~ xuntil227(s3),
inference(resolution,[],['7295','7389']) ).
cnf('7391',plain,
( ~ xuntil222(s3)
| until221(s4) ),
inference(resolution,[],['385','5635']) ).
cnf('7392',plain,
~ xuntil222(s3),
inference(resolution,[],['7292','7391']) ).
cnf('7393',plain,
( ~ xuntil217(s3)
| until216(s4) ),
inference(resolution,[],['385','5638']) ).
cnf('7394',plain,
~ xuntil217(s3),
inference(resolution,[],['7288','7393']) ).
cnf('7395',plain,
( m_state_v_gof(c_s,X)
| ~ node215(X) ),
inference(cnf_transformation,[],[prpty102]) ).
cnf('7396',plain,
~ node215(s3),
inference(resolution,[],['2359','7395']) ).
cnf('7397',plain,
~ until216(s3),
inference(resolution,[then_simplify],['7394','3667','7396']) ).
cnf('7398',plain,
~ node213(s3),
inference(resolution,[],['2389','7289']) ).
cnf('7399',plain,
~ node220(s3),
inference(resolution,[then_simplify],['7397','3671','7398']) ).
cnf('7400',plain,
~ until221(s3),
inference(resolution,[then_simplify],['7392','3675','7399']) ).
cnf('7401',plain,
~ node211(s3),
inference(resolution,[],['4750','5020']) ).
cnf('7402',plain,
~ node225(s3),
inference(resolution,[then_simplify],['7400','3680','7401']) ).
cnf('7403',plain,
~ until226(s3),
inference(resolution,[then_simplify],['7390','5023','7402']) ).
cnf('7404',plain,
( m_state_v_DBM(c_s,X,c_run)
| ~ node209(X) ),
inference(cnf_transformation,[],[prpty78]) ).
cnf('7405',plain,
~ node209(s3),
inference(resolution,[],['4717','7404']) ).
cnf('7406',plain,
~ node230(s3),
inference(resolution,[then_simplify],['7403','5028','7405']) ).
cnf('7407',plain,
~ until231(s3),
inference(resolution,[then_simplify],['7388','5035','7406']) ).
cnf('7408',plain,
( ~ trans(X,Y)
| ~ always206(X)
| always206(Y) ),
inference(cnf_transformation,[],[prpty69]) ).
cnf('7409',plain,
( ~ always206(s3)
| always206(s4) ),
inference(resolution,[],['386','7408']) ).
cnf('7410',plain,
~ always206(s3),
inference(resolution,[],['7301','7409']) ).
cnf('7411',plain,
~ node207(s3),
inference(resolution,[],['7410','5190']) ).
cnf('7412',plain,
~ node235(s3),
inference(resolution,[then_simplify],['7407','5040','7411']) ).
cnf('7413',plain,
~ until236(s3),
inference(resolution,[then_simplify],['7386','5193','7412']) ).
cnf('7414',plain,
~ node205(s3),
inference(resolution,[],['656','5804']) ).
cnf('7415',plain,
~ node240(s3),
inference(resolution,[then_simplify],['7413','5198','7414']) ).
cnf('7416',plain,
~ until241(s3),
inference(resolution,[then_simplify],['7384','5205','7415']) ).
cnf('7417',plain,
( ~ always202(s3)
| always202(s4) ),
inference(resolution,[],['386','5673']) ).
cnf('7418',plain,
~ always202(s3),
inference(resolution,[],['7309','7417']) ).
cnf('7419',plain,
~ node203(s3),
inference(resolution,[],['7418','5214']) ).
cnf('7420',plain,
~ node245(s3),
inference(resolution,[then_simplify],['7416','5210','7419']) ).
cnf('7421',plain,
~ until246(s3),
inference(resolution,[then_simplify],['7382','5217','7420']) ).
cnf('7422',plain,
~ node201(s3),
inference(resolution,[],['1008','6038']) ).
cnf('7423',plain,
~ node250(s3),
inference(resolution,[then_simplify],['7421','5222','7422']) ).
cnf('7424',plain,
~ until251(s3),
inference(resolution,[then_simplify],['7380','5229','7423']) ).
cnf('7425',plain,
~ node199(s3),
inference(resolution,[],['818','6131']) ).
cnf('7426',plain,
~ node255(s3),
inference(resolution,[then_simplify],['7424','5234','7425']) ).
cnf('7427',plain,
~ until256(s3),
inference(resolution,[then_simplify],['7378','5241','7426']) ).
cnf('7428',plain,
~ node197(s3),
inference(resolution,[],['636','6324']) ).
cnf('7429',plain,
~ node260(s3),
inference(resolution,[then_simplify],['7427','5246','7428']) ).
cnf('7430',plain,
~ until261(s3),
inference(resolution,[then_simplify],['7376','5253','7429']) ).
cnf('7431',plain,
~ node195(s3),
inference(resolution,[],['632','6329']) ).
cnf('7432',plain,
~ node265(s3),
inference(resolution,[then_simplify],['7430','5258','7431']) ).
cnf('7433',plain,
~ until266(s3),
inference(resolution,[then_simplify],['7374','5265','7432']) ).
cnf('7434',plain,
( ~ always192(s3)
| always192(s4) ),
inference(resolution,[],['386','5703']) ).
cnf('7435',plain,
~ always192(s3),
inference(resolution,[],['7352','7434']) ).
cnf('7436',plain,
~ node193(s3),
inference(resolution,[],['7435','5274']) ).
cnf('7437',plain,
~ node270(s3),
inference(resolution,[then_simplify],['7433','5270','7436']) ).
cnf('7438',plain,
~ until271(s3),
inference(resolution,[then_simplify],['7372','5277','7437']) ).
cnf('7439',plain,
~ node191(s3),
inference(resolution,[],['1322','5709']) ).
cnf('7440',plain,
~ node275(s3),
inference(resolution,[then_simplify],['7438','5282','7439']) ).
cnf('7441',plain,
~ until276(s3),
inference(resolution,[then_simplify],['7370','5289','7440']) ).
cnf('7442',plain,
~ node189(s3),
inference(resolution,[],['1378','7250']) ).
cnf('7443',plain,
~ node280(s3),
inference(resolution,[then_simplify],['7441','5294','7442']) ).
cnf('7444',plain,
~ until281(s3),
inference(resolution,[then_simplify],['7368','5579','7443']) ).
cnf('7445',plain,
~ node187(s3),
inference(resolution,[],['1378','5735']) ).
cnf('7446',plain,
~ node285(s3),
inference(resolution,[then_simplify],['7444','5584','7445']) ).
cnf('7447',plain,
~ until286(s3),
inference(resolution,[then_simplify],['7366','5591','7446']) ).
cnf('7448',plain,
( ~ xuntil287(s2)
| until286(s3) ),
inference(resolution,[],['174','5596']) ).
cnf('7449',plain,
~ xuntil287(s2),
inference(resolution,[],['7447','7448']) ).
cnf('7450',plain,
( ~ xuntil282(s2)
| until281(s3) ),
inference(resolution,[],['174','5599']) ).
cnf('7451',plain,
~ xuntil282(s2),
inference(resolution,[],['7444','7450']) ).
cnf('7452',plain,
( ~ xuntil277(s2)
| until276(s3) ),
inference(resolution,[],['174','5602']) ).
cnf('7453',plain,
~ xuntil277(s2),
inference(resolution,[],['7441','7452']) ).
cnf('7454',plain,
( ~ xuntil272(s2)
| until271(s3) ),
inference(resolution,[],['174','5605']) ).
cnf('7455',plain,
~ xuntil272(s2),
inference(resolution,[],['7438','7454']) ).
cnf('7456',plain,
( ~ xuntil267(s2)
| until266(s3) ),
inference(resolution,[],['174','5608']) ).
cnf('7457',plain,
~ xuntil267(s2),
inference(resolution,[],['7433','7456']) ).
cnf('7458',plain,
( ~ xuntil262(s2)
| until261(s3) ),
inference(resolution,[],['174','5611']) ).
cnf('7459',plain,
~ xuntil262(s2),
inference(resolution,[],['7430','7458']) ).
cnf('7460',plain,
( ~ xuntil257(s2)
| until256(s3) ),
inference(resolution,[],['174','5614']) ).
cnf('7461',plain,
~ xuntil257(s2),
inference(resolution,[],['7427','7460']) ).
cnf('7462',plain,
( ~ xuntil252(s2)
| until251(s3) ),
inference(resolution,[],['174','5617']) ).
cnf('7463',plain,
~ xuntil252(s2),
inference(resolution,[],['7424','7462']) ).
cnf('7464',plain,
( ~ xuntil247(s2)
| until246(s3) ),
inference(resolution,[],['174','5620']) ).
cnf('7465',plain,
~ xuntil247(s2),
inference(resolution,[],['7421','7464']) ).
cnf('7466',plain,
( ~ xuntil242(s2)
| until241(s3) ),
inference(resolution,[],['174','5623']) ).
cnf('7467',plain,
~ xuntil242(s2),
inference(resolution,[],['7416','7466']) ).
cnf('7468',plain,
( ~ xuntil237(s2)
| until236(s3) ),
inference(resolution,[],['174','5626']) ).
cnf('7469',plain,
~ xuntil237(s2),
inference(resolution,[],['7413','7468']) ).
cnf('7470',plain,
( ~ xuntil232(s2)
| until231(s3) ),
inference(resolution,[],['174','5629']) ).
cnf('7471',plain,
~ xuntil232(s2),
inference(resolution,[],['7407','7470']) ).
cnf('7472',plain,
( ~ xuntil227(s2)
| until226(s3) ),
inference(resolution,[],['174','5632']) ).
cnf('7473',plain,
~ xuntil227(s2),
inference(resolution,[],['7403','7472']) ).
cnf('7474',plain,
( ~ xuntil222(s2)
| until221(s3) ),
inference(resolution,[],['174','5635']) ).
cnf('7475',plain,
~ xuntil222(s2),
inference(resolution,[],['7400','7474']) ).
cnf('7476',plain,
( ~ xuntil217(s2)
| until216(s3) ),
inference(resolution,[],['174','5638']) ).
cnf('7477',plain,
~ xuntil217(s2),
inference(resolution,[],['7397','7476']) ).
cnf('7478',plain,
~ node215(s2),
inference(resolution,[],['2362','7395']) ).
cnf('7479',plain,
~ until216(s2),
inference(resolution,[then_simplify],['7477','3667','7478']) ).
cnf('7480',plain,
~ node213(s2),
inference(resolution,[],['2384','7289']) ).
cnf('7481',plain,
~ node220(s2),
inference(resolution,[then_simplify],['7479','3671','7480']) ).
cnf('7482',plain,
~ until221(s2),
inference(resolution,[then_simplify],['7475','3675','7481']) ).
cnf('7483',plain,
( m_state_v_DBM(c_s,X,c_run)
| ~ node211(X) ),
inference(cnf_transformation,[],[prpty84]) ).
cnf('7484',plain,
~ node211(s2),
inference(resolution,[],['4712','7483']) ).
cnf('7485',plain,
~ node225(s2),
inference(resolution,[then_simplify],['7482','3680','7484']) ).
cnf('7486',plain,
~ until226(s2),
inference(resolution,[then_simplify],['7473','5023','7485']) ).
cnf('7487',plain,
~ node209(s2),
inference(resolution,[],['4712','7404']) ).
cnf('7488',plain,
~ node230(s2),
inference(resolution,[then_simplify],['7486','5028','7487']) ).
cnf('7489',plain,
~ until231(s2),
inference(resolution,[then_simplify],['7471','5035','7488']) ).
cnf('7490',plain,
( ~ always206(s2)
| always206(s3) ),
inference(resolution,[],['175','7408']) ).
cnf('7491',plain,
~ always206(s2),
inference(resolution,[],['7410','7490']) ).
cnf('7492',plain,
~ node207(s2),
inference(resolution,[],['7491','5190']) ).
cnf('7493',plain,
~ node235(s2),
inference(resolution,[then_simplify],['7489','5040','7492']) ).
cnf('7494',plain,
~ until236(s2),
inference(resolution,[then_simplify],['7469','5193','7493']) ).
cnf('7495',plain,
~ node205(s2),
inference(resolution,[],['558','5804']) ).
cnf('7496',plain,
~ node240(s2),
inference(resolution,[then_simplify],['7494','5198','7495']) ).
cnf('7497',plain,
~ until241(s2),
inference(resolution,[then_simplify],['7467','5205','7496']) ).
cnf('7498',plain,
( ~ always202(s2)
| always202(s3) ),
inference(resolution,[],['175','5673']) ).
cnf('7499',plain,
~ always202(s2),
inference(resolution,[],['7418','7498']) ).
cnf('7500',plain,
~ node203(s2),
inference(resolution,[],['7499','5214']) ).
cnf('7501',plain,
~ node245(s2),
inference(resolution,[then_simplify],['7497','5210','7500']) ).
cnf('7502',plain,
~ until246(s2),
inference(resolution,[then_simplify],['7465','5217','7501']) ).
cnf('7503',plain,
~ node201(s2),
inference(resolution,[],['876','6038']) ).
cnf('7504',plain,
~ node250(s2),
inference(resolution,[then_simplify],['7502','5222','7503']) ).
cnf('7505',plain,
~ until251(s2),
inference(resolution,[then_simplify],['7463','5229','7504']) ).
cnf('7506',plain,
~ node199(s2),
inference(resolution,[],['811','6131']) ).
cnf('7507',plain,
~ node255(s2),
inference(resolution,[then_simplify],['7505','5234','7506']) ).
cnf('7508',plain,
~ until256(s2),
inference(resolution,[then_simplify],['7461','5241','7507']) ).
cnf('7509',plain,
~ node197(s2),
inference(resolution,[],['546','6324']) ).
cnf('7510',plain,
~ node260(s2),
inference(resolution,[then_simplify],['7508','5246','7509']) ).
cnf('7511',plain,
~ until261(s2),
inference(resolution,[then_simplify],['7459','5253','7510']) ).
cnf('7512',plain,
~ node195(s2),
inference(resolution,[],['541','6329']) ).
cnf('7513',plain,
~ node265(s2),
inference(resolution,[then_simplify],['7511','5258','7512']) ).
cnf('7514',plain,
~ until266(s2),
inference(resolution,[then_simplify],['7457','5265','7513']) ).
cnf('7515',plain,
( ~ node174(c_s,s1,X)
| ~ m_state_v_TEM(c_s,X,c_idle) ),
inference(resolution,[],['1294','1330']) ).
cnf('7516',plain,
~ m_state_v_TEM(c_s,s2,c_idle),
inference(resolution,[],['1299','7515']) ).
cnf('7517',plain,
~ node193(s2),
inference(resolution,[],['7516','6146']) ).
cnf('7518',plain,
~ node270(s2),
inference(resolution,[then_simplify],['7514','5270','7517']) ).
cnf('7519',plain,
~ until271(s2),
inference(resolution,[then_simplify],['7455','5277','7518']) ).
cnf('7520',plain,
~ node191(s2),
inference(resolution,[],['1311','5709']) ).
cnf('7521',plain,
~ node275(s2),
inference(resolution,[then_simplify],['7519','5282','7520']) ).
cnf('7522',plain,
~ until276(s2),
inference(resolution,[then_simplify],['7453','5289','7521']) ).
cnf('7523',plain,
~ node189(s2),
inference(resolution,[],['1252','7250']) ).
cnf('7524',plain,
~ node280(s2),
inference(resolution,[then_simplify],['7522','5294','7523']) ).
cnf('7525',plain,
~ until281(s2),
inference(resolution,[then_simplify],['7451','5579','7524']) ).
cnf('7526',plain,
~ node187(s2),
inference(resolution,[],['1252','5735']) ).
cnf('7527',plain,
~ node285(s2),
inference(resolution,[then_simplify],['7525','5584','7526']) ).
cnf('7528',plain,
~ until286(s2),
inference(resolution,[then_simplify],['7449','5591','7527']) ).
cnf('7529',plain,
( ~ xuntil287(s1)
| until286(s2) ),
inference(resolution,[],['59','5596']) ).
cnf('7530',plain,
~ xuntil287(s1),
inference(resolution,[],['7528','7529']) ).
cnf('7531',plain,
( ~ xuntil282(s1)
| until281(s2) ),
inference(resolution,[],['59','5599']) ).
cnf('7532',plain,
~ xuntil282(s1),
inference(resolution,[],['7525','7531']) ).
cnf('7533',plain,
( ~ xuntil277(s1)
| until276(s2) ),
inference(resolution,[],['59','5602']) ).
cnf('7534',plain,
~ xuntil277(s1),
inference(resolution,[],['7522','7533']) ).
cnf('7535',plain,
( ~ xuntil272(s1)
| until271(s2) ),
inference(resolution,[],['59','5605']) ).
cnf('7536',plain,
~ xuntil272(s1),
inference(resolution,[],['7519','7535']) ).
cnf('7537',plain,
( ~ xuntil267(s1)
| until266(s2) ),
inference(resolution,[],['59','5608']) ).
cnf('7538',plain,
~ xuntil267(s1),
inference(resolution,[],['7514','7537']) ).
cnf('7539',plain,
( ~ xuntil262(s1)
| until261(s2) ),
inference(resolution,[],['59','5611']) ).
cnf('7540',plain,
~ xuntil262(s1),
inference(resolution,[],['7511','7539']) ).
cnf('7541',plain,
( ~ xuntil257(s1)
| until256(s2) ),
inference(resolution,[],['59','5614']) ).
cnf('7542',plain,
~ xuntil257(s1),
inference(resolution,[],['7508','7541']) ).
cnf('7543',plain,
( ~ xuntil252(s1)
| until251(s2) ),
inference(resolution,[],['59','5617']) ).
cnf('7544',plain,
~ xuntil252(s1),
inference(resolution,[],['7505','7543']) ).
cnf('7545',plain,
( ~ xuntil247(s1)
| until246(s2) ),
inference(resolution,[],['59','5620']) ).
cnf('7546',plain,
~ xuntil247(s1),
inference(resolution,[],['7502','7545']) ).
cnf('7547',plain,
( ~ xuntil242(s1)
| until241(s2) ),
inference(resolution,[],['59','5623']) ).
cnf('7548',plain,
~ xuntil242(s1),
inference(resolution,[],['7497','7547']) ).
cnf('7549',plain,
( ~ xuntil237(s1)
| until236(s2) ),
inference(resolution,[],['59','5626']) ).
cnf('7550',plain,
~ xuntil237(s1),
inference(resolution,[],['7494','7549']) ).
cnf('7551',plain,
( ~ xuntil232(s1)
| until231(s2) ),
inference(resolution,[],['59','5629']) ).
cnf('7552',plain,
~ xuntil232(s1),
inference(resolution,[],['7489','7551']) ).
cnf('7553',plain,
( ~ xuntil227(s1)
| until226(s2) ),
inference(resolution,[],['59','5632']) ).
cnf('7554',plain,
~ xuntil227(s1),
inference(resolution,[],['7486','7553']) ).
cnf('7555',plain,
( ~ xuntil222(s1)
| until221(s2) ),
inference(resolution,[],['59','5635']) ).
cnf('7556',plain,
~ xuntil222(s1),
inference(resolution,[],['7482','7555']) ).
cnf('7557',plain,
( ~ xuntil217(s1)
| until216(s2) ),
inference(resolution,[],['59','5638']) ).
cnf('7558',plain,
~ xuntil217(s1),
inference(resolution,[],['7479','7557']) ).
cnf('7559',plain,
~ node215(s1),
inference(resolution,[],['2298','7395']) ).
cnf('7560',plain,
~ until216(s1),
inference(resolution,[then_simplify],['7558','3667','7559']) ).
cnf('7561',plain,
~ node213(s1),
inference(resolution,[],['2377','7289']) ).
cnf('7562',plain,
~ node220(s1),
inference(resolution,[then_simplify],['7560','3671','7561']) ).
cnf('7563',plain,
~ until221(s1),
inference(resolution,[then_simplify],['7556','3675','7562']) ).
cnf('7564',plain,
~ node211(s1),
inference(resolution,[],['4680','7483']) ).
cnf('7565',plain,
~ node225(s1),
inference(resolution,[then_simplify],['7563','3680','7564']) ).
cnf('7566',plain,
~ until226(s1),
inference(resolution,[then_simplify],['7554','5023','7565']) ).
cnf('7567',plain,
~ node209(s1),
inference(resolution,[],['4680','7404']) ).
cnf('7568',plain,
~ node230(s1),
inference(resolution,[then_simplify],['7566','5028','7567']) ).
cnf('7569',plain,
~ until231(s1),
inference(resolution,[then_simplify],['7552','5035','7568']) ).
cnf('7570',plain,
( m_state_v_a2ext(c_s,X,c_ob)
| ~ node207(X) ),
inference(cnf_transformation,[],[prpty73]) ).
cnf('7571',plain,
~ node207(s1),
inference(resolution,[],['310','7570']) ).
cnf('7572',plain,
~ node235(s1),
inference(resolution,[then_simplify],['7569','5040','7571']) ).
cnf('7573',plain,
~ until236(s1),
inference(resolution,[then_simplify],['7550','5193','7572']) ).
cnf('7574',plain,
~ node205(s1),
inference(resolution,[],['316','5804']) ).
cnf('7575',plain,
~ node240(s1),
inference(resolution,[then_simplify],['7573','5198','7574']) ).
cnf('7576',plain,
~ until241(s1),
inference(resolution,[then_simplify],['7548','5205','7575']) ).
cnf('7577',plain,
( ~ always202(s1)
| always202(s2) ),
inference(resolution,[],['60','5673']) ).
cnf('7578',plain,
~ always202(s1),
inference(resolution,[],['7499','7577']) ).
cnf('7579',plain,
~ node203(s1),
inference(resolution,[],['7578','5214']) ).
cnf('7580',plain,
~ node245(s1),
inference(resolution,[then_simplify],['7576','5210','7579']) ).
cnf('7581',plain,
~ until246(s1),
inference(resolution,[then_simplify],['7546','5217','7580']) ).
cnf('7582',plain,
~ node201(s1),
inference(resolution,[],['778','6038']) ).
cnf('7583',plain,
~ node250(s1),
inference(resolution,[then_simplify],['7581','5222','7582']) ).
cnf('7584',plain,
~ until251(s1),
inference(resolution,[then_simplify],['7544','5229','7583']) ).
cnf('7585',plain,
~ node199(s1),
inference(resolution,[],['260','6131']) ).
cnf('7586',plain,
~ node255(s1),
inference(resolution,[then_simplify],['7584','5234','7585']) ).
cnf('7587',plain,
~ until256(s1),
inference(resolution,[then_simplify],['7542','5241','7586']) ).
cnf('7588',plain,
~ node197(s1),
inference(resolution,[],['209','6324']) ).
cnf('7589',plain,
~ node260(s1),
inference(resolution,[then_simplify],['7587','5246','7588']) ).
cnf('7590',plain,
~ until261(s1),
inference(resolution,[then_simplify],['7540','5253','7589']) ).
cnf('7591',plain,
~ node195(s1),
inference(resolution,[],['215','6329']) ).
cnf('7592',plain,
~ node265(s1),
inference(resolution,[then_simplify],['7590','5258','7591']) ).
cnf('7593',plain,
~ until266(s1),
inference(resolution,[then_simplify],['7538','5265','7592']) ).
cnf('7594',plain,
( m_state_v_topPos(c_s,X)
| ~ node193(X) ),
inference(cnf_transformation,[],[prpty24]) ).
cnf('7595',plain,
~ node193(s1),
inference(resolution,[],['276','7594']) ).
cnf('7596',plain,
~ node270(s1),
inference(resolution,[then_simplify],['7593','5270','7595']) ).
cnf('7597',plain,
~ until271(s1),
inference(resolution,[then_simplify],['7536','5277','7596']) ).
cnf('7598',plain,
~ node191(s1),
inference(resolution,[],['1294','6337']) ).
cnf('7599',plain,
~ node275(s1),
inference(resolution,[then_simplify],['7597','5282','7598']) ).
cnf('7600',plain,
~ until276(s1),
inference(resolution,[then_simplify],['7534','5289','7599']) ).
cnf('7601',plain,
~ node189(s1),
inference(resolution,[],['1244','7250']) ).
cnf('7602',plain,
~ node280(s1),
inference(resolution,[then_simplify],['7600','5294','7601']) ).
cnf('7603',plain,
~ until281(s1),
inference(resolution,[then_simplify],['7532','5579','7602']) ).
cnf('7604',plain,
~ node187(s1),
inference(resolution,[],['1244','5735']) ).
cnf('7605',plain,
~ node285(s1),
inference(resolution,[then_simplify],['7603','5584','7604']) ).
cnf('7606',plain,
~ until286(s1),
inference(resolution,[then_simplify],['7530','5591','7605']) ).
cnf('7607',plain,
( ~ xuntil287(s0)
| until286(s1) ),
inference(resolution,[],['6','5596']) ).
cnf('7608',plain,
~ xuntil287(s0),
inference(resolution,[],['7606','7607']) ).
cnf('7609',plain,
until286(s0),
inference(cnf_transformation,[],[prpty223]) ).
cnf('7610',plain,
( ~ xuntil282(s0)
| until281(s1) ),
inference(resolution,[],['6','5599']) ).
cnf('7611',plain,
~ xuntil282(s0),
inference(resolution,[],['7603','7610']) ).
cnf('7612',plain,
( ~ xuntil277(s0)
| until276(s1) ),
inference(resolution,[],['6','5602']) ).
cnf('7613',plain,
~ xuntil277(s0),
inference(resolution,[],['7600','7612']) ).
cnf('7614',plain,
( ~ xuntil272(s0)
| until271(s1) ),
inference(resolution,[],['6','5605']) ).
cnf('7615',plain,
~ xuntil272(s0),
inference(resolution,[],['7597','7614']) ).
cnf('7616',plain,
( ~ xuntil267(s0)
| until266(s1) ),
inference(resolution,[],['6','5608']) ).
cnf('7617',plain,
~ xuntil267(s0),
inference(resolution,[],['7593','7616']) ).
cnf('7618',plain,
( ~ xuntil262(s0)
| until261(s1) ),
inference(resolution,[],['6','5611']) ).
cnf('7619',plain,
~ xuntil262(s0),
inference(resolution,[],['7590','7618']) ).
cnf('7620',plain,
( ~ xuntil257(s0)
| until256(s1) ),
inference(resolution,[],['6','5614']) ).
cnf('7621',plain,
~ xuntil257(s0),
inference(resolution,[],['7587','7620']) ).
cnf('7622',plain,
( ~ xuntil252(s0)
| until251(s1) ),
inference(resolution,[],['6','5617']) ).
cnf('7623',plain,
~ xuntil252(s0),
inference(resolution,[],['7584','7622']) ).
cnf('7624',plain,
( ~ xuntil247(s0)
| until246(s1) ),
inference(resolution,[],['6','5620']) ).
cnf('7625',plain,
~ xuntil247(s0),
inference(resolution,[],['7581','7624']) ).
cnf('7626',plain,
( ~ xuntil242(s0)
| until241(s1) ),
inference(resolution,[],['6','5623']) ).
cnf('7627',plain,
~ xuntil242(s0),
inference(resolution,[],['7576','7626']) ).
cnf('7628',plain,
( ~ xuntil237(s0)
| until236(s1) ),
inference(resolution,[],['6','5626']) ).
cnf('7629',plain,
~ xuntil237(s0),
inference(resolution,[],['7573','7628']) ).
cnf('7630',plain,
( ~ xuntil232(s0)
| until231(s1) ),
inference(resolution,[],['6','5629']) ).
cnf('7631',plain,
~ xuntil232(s0),
inference(resolution,[],['7569','7630']) ).
cnf('7632',plain,
( ~ xuntil227(s0)
| until226(s1) ),
inference(resolution,[],['6','5632']) ).
cnf('7633',plain,
~ xuntil227(s0),
inference(resolution,[],['7566','7632']) ).
cnf('7634',plain,
( ~ xuntil222(s0)
| until221(s1) ),
inference(resolution,[],['6','5635']) ).
cnf('7635',plain,
~ xuntil222(s0),
inference(resolution,[],['7563','7634']) ).
cnf('7636',plain,
( ~ xuntil217(s0)
| until216(s1) ),
inference(resolution,[],['6','5638']) ).
cnf('7637',plain,
~ xuntil217(s0),
inference(resolution,[],['7560','7636']) ).
cnf('7638',plain,
~ node215(s0),
inference(resolution,[],['2274','7395']) ).
cnf('7639',plain,
~ until216(s0),
inference(resolution,[then_simplify],['7637','3667','7638']) ).
cnf('7640',plain,
~ node213(s0),
inference(resolution,[],['2170','7289']) ).
cnf('7641',plain,
~ node220(s0),
inference(resolution,[then_simplify],['7639','3671','7640']) ).
cnf('7642',plain,
~ until221(s0),
inference(resolution,[then_simplify],['7635','3675','7641']) ).
cnf('7643',plain,
~ node211(s0),
inference(resolution,[],['4671','5020']) ).
cnf('7644',plain,
~ node225(s0),
inference(resolution,[then_simplify],['7642','3680','7643']) ).
cnf('7645',plain,
~ until226(s0),
inference(resolution,[then_simplify],['7633','5023','7644']) ).
cnf('7646',plain,
~ node209(s0),
inference(resolution,[],['4678','7404']) ).
cnf('7647',plain,
~ node230(s0),
inference(resolution,[then_simplify],['7645','5028','7646']) ).
cnf('7648',plain,
~ until231(s0),
inference(resolution,[then_simplify],['7631','5035','7647']) ).
cnf('7649',plain,
( m_state_v_angle(c_s,X,c_arm2todepbelt)
| ~ node207(X) ),
inference(cnf_transformation,[],[prpty71]) ).
cnf('7650',plain,
~ node207(s0),
inference(resolution,[],['33','7649']) ).
cnf('7651',plain,
~ node235(s0),
inference(resolution,[then_simplify],['7648','5040','7650']) ).
cnf('7652',plain,
~ until236(s0),
inference(resolution,[then_simplify],['7629','5193','7651']) ).
cnf('7653',plain,
~ node205(s0),
inference(resolution,[],['300','6408']) ).
cnf('7654',plain,
~ node240(s0),
inference(resolution,[then_simplify],['7652','5198','7653']) ).
cnf('7655',plain,
~ until241(s0),
inference(resolution,[then_simplify],['7627','5205','7654']) ).
cnf('7656',plain,
( ~ always202(s0)
| always202(s1) ),
inference(resolution,[],['7','5673']) ).
cnf('7657',plain,
~ always202(s0),
inference(resolution,[],['7578','7656']) ).
cnf('7658',plain,
~ node203(s0),
inference(resolution,[],['7657','5214']) ).
cnf('7659',plain,
~ node245(s0),
inference(resolution,[then_simplify],['7655','5210','7658']) ).
cnf('7660',plain,
~ until246(s0),
inference(resolution,[then_simplify],['7625','5217','7659']) ).
cnf('7661',plain,
~ node201(s0),
inference(resolution,[],['735','6038']) ).
cnf('7662',plain,
~ node250(s0),
inference(resolution,[then_simplify],['7660','5222','7661']) ).
cnf('7663',plain,
~ until251(s0),
inference(resolution,[then_simplify],['7623','5229','7662']) ).
cnf('7664',plain,
~ node199(s0),
inference(resolution,[],['249','6131']) ).
cnf('7665',plain,
~ node255(s0),
inference(resolution,[then_simplify],['7663','5234','7664']) ).
cnf('7666',plain,
~ until256(s0),
inference(resolution,[then_simplify],['7621','5241','7665']) ).
cnf('7667',plain,
( m_state_v_angle(c_s,X,c_arm1topress)
| ~ node197(X) ),
inference(cnf_transformation,[],[prpty39]) ).
cnf('7668',plain,
~ node197(s0),
inference(resolution,[],['29','7667']) ).
cnf('7669',plain,
~ node260(s0),
inference(resolution,[then_simplify],['7666','5246','7668']) ).
cnf('7670',plain,
~ until261(s0),
inference(resolution,[then_simplify],['7619','5253','7669']) ).
cnf('7671',plain,
~ node195(s0),
inference(resolution,[],['111','7157']) ).
cnf('7672',plain,
~ node265(s0),
inference(resolution,[then_simplify],['7670','5258','7671']) ).
cnf('7673',plain,
~ until266(s0),
inference(resolution,[then_simplify],['7617','5265','7672']) ).
cnf('7674',plain,
~ node193(s0),
inference(resolution,[],['156','7594']) ).
cnf('7675',plain,
~ node270(s0),
inference(resolution,[then_simplify],['7673','5270','7674']) ).
cnf('7676',plain,
~ until271(s0),
inference(resolution,[then_simplify],['7615','5277','7675']) ).
cnf('7677',plain,
m_state_v_TEM(c_s,s3,c_idle),
inference(resolution,[],['1314','1315']) ).
cnf('7678',plain,
~ always190(s3),
inference(resolution,[then_simplify],['1728','6452','7677','1872','1896']) ).
cnf('7679',plain,
( ~ always190(s2)
| always190(s3) ),
inference(resolution,[],['175','6465']) ).
cnf('7680',plain,
~ always190(s2),
inference(resolution,[],['7678','7679']) ).
cnf('7681',plain,
( ~ always190(s1)
| always190(s2) ),
inference(resolution,[],['60','6465']) ).
cnf('7682',plain,
~ always190(s1),
inference(resolution,[],['7680','7681']) ).
cnf('7683',plain,
( ~ always190(s0)
| always190(s1) ),
inference(resolution,[],['7','6465']) ).
cnf('7684',plain,
~ always190(s0),
inference(resolution,[],['7682','7683']) ).
cnf('7685',plain,
~ node191(s0),
inference(resolution,[],['7684','5286']) ).
cnf('7686',plain,
~ node275(s0),
inference(resolution,[then_simplify],['7676','5282','7685']) ).
cnf('7687',plain,
~ until276(s0),
inference(resolution,[then_simplify],['7613','5289','7686']) ).
cnf('7688',plain,
~ node189(s0),
inference(resolution,[],['506','5576']) ).
cnf('7689',plain,
~ node280(s0),
inference(resolution,[then_simplify],['7687','5294','7688']) ).
cnf('7690',plain,
~ until281(s0),
inference(resolution,[then_simplify],['7611','5579','7689']) ).
cnf('7691',plain,
~ node187(s0),
inference(resolution,[],['510','5735']) ).
cnf('7692',plain,
~ node285(s0),
inference(resolution,[then_simplify],['7690','5584','7691']) ).
cnf('7693',plain,
$false,
inference(resolution,[then_simplify],['7608','5591','7609','7692']) ).
%------------------------------------------------------------------------------
%----ORIGINAL SYSTEM OUTPUT
% 0.05/0.09 % Problem : SWV423-1.020 : TPTP v8.1.2. Released v3.5.0.
% 0.09/0.10 % Command : gkc %s
% 0.09/0.29 % Computer : n032.cluster.edu
% 0.09/0.29 % Model : x86_64 x86_64
% 0.09/0.29 % CPU : Intel(R) Xeon(R) CPU E5-2620 v4 @ 2.10GHz
% 0.09/0.29 % Memory : 8042.1875MB
% 0.09/0.29 % OS : Linux 3.10.0-693.el7.x86_64
% 0.09/0.29 % CPULimit : 300
% 0.09/0.29 % WCLimit : 300
% 0.09/0.29 % DateTime : Tue Aug 29 08:36:31 EDT 2023
% 0.09/0.29 % CPUTime :
% 0.13/0.34
% 0.13/0.34 input clause set summed statistics:
% 0.13/0.34 ----------------------------------
% 0.13/0.34 in_clause_count: 1020
% 0.13/0.34 in_rule_clause_count: 963
% 0.13/0.34 in_fact_clause_count: 57
% 0.13/0.34 in_answer_clause_count: 0
% 0.13/0.34 in_ground_clause_count: 30
% 0.13/0.34 in_unit_clause_count: 68
% 0.13/0.34 in_horn_clause_count: 837
% 0.13/0.34 in_pos_clause_count: 77
% 0.13/0.34 in_neg_clause_count: 125
% 0.13/0.34 in_poseq_clause_count: 0
% 0.13/0.34 in_negeq_clause_count: 0
% 0.13/0.34 in_unitposeq_clause_count: 0
% 0.13/0.34 in_chain_clause_count: 15
% 0.13/0.34 in_min_length: 1
% 0.13/0.34 in_max_length: 48
% 0.13/0.34 in_min_depth: 1
% 0.13/0.34 in_max_depth: 1
% 0.13/0.34 in_min_size: 2
% 0.13/0.34 in_max_size: 145
% 0.13/0.34 in_min_vars: 0
% 0.13/0.34 in_max_vars: 4
% 0.13/0.34 in_extaxiom_count: 0
% 0.13/0.34 in_axiom_count: 797
% 0.13/0.34 in_assumption_count: 0
% 0.13/0.34 in_goal_count: 223
% 0.13/0.34 in_neg_goal_count: 30
% 0.13/0.34 in_pos_goal_count: 1
% 0.13/0.34 in_posunit_goal_count: 1
% 0.13/0.34
% 0.13/0.34 auto guide:
% 0.13/0.34 -----------
% 0.13/0.34 {
% 0.13/0.34 "print":1,
% 0.13/0.34 "print_level": 15,
% 0.13/0.34 "max_size": 0,
% 0.13/0.34 "max_depth": 0,
% 0.13/0.34 "max_length": 0,
% 0.13/0.34 "max_dseconds": 0,
% 0.13/0.34 "equality":0,
% 0.13/0.34 "runs":[
% 0.13/0.34 {"max_dseconds":1, "strategy":["negative_pref"], "weight_select_ratio":100, "query_preference":0},
% 0.13/0.34 {"max_dseconds":1, "strategy":["hardness_pref"], "weight_select_ratio":100, "query_preference":0},
% 0.13/0.34 {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":0, "weight_select_ratio":100, "depth_penalty":100, "length_penalty":100},
% 0.13/0.34 {"max_dseconds":1, "strategy":["unit"], "weight_select_ratio":100, "query_preference":0},
% 0.13/0.34 {"max_dseconds":1, "strategy":["negative_pref"], "weight_select_ratio":100, "query_preference":0, "var_weight":70, "repeat_var_weight":70},
% 0.13/0.34 {"max_dseconds":1, "strategy":["unit"], "query_preference":0, "weight_select_ratio":100, "depth_penalty":100, "length_penalty":100},
% 0.13/0.34 {"max_dseconds":1, "sine":5, "strategy":["negative_pref"], "query_preference":0},
% 0.13/0.34 {"max_dseconds":1, "sine":5, "strategy":["hardness_pref"], "query_preference":0},
% 0.13/0.34 {"max_dseconds":1, "sine":5, "strategy":["unit"], "query_preference":0},
% 0.13/0.34 {"max_dseconds":1, "strategy":["query_focus"], "query_preference":2},
% 0.13/0.34 {"max_dseconds":1, "strategy":["query_focus"], "query_preference":1},
% 0.13/0.34 {"max_dseconds":1, "strategy":["query_focus", "unit"], "query_preference":0},
% 0.13/0.34 {"max_dseconds":1, "strategy":["query_focus", "max_ground_weight"], "query_preference":1},
% 0.13/0.34 {"max_dseconds":1, "strategy":["query_focus", "unit"], "query_preference":1},
% 0.13/0.34 {"max_dseconds":1, "strategy":["query_focus", "positive_pref"], "query_preference":0},
% 0.13/0.34 {"max_dseconds":1, "strategy":["query_focus", "unit"], "query_preference":2},
% 0.13/0.34 {"max_dseconds":1, "strategy":["query_focus"], "query_preference":3},
% 0.13/0.34 {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":0},
% 0.13/0.34 {"max_dseconds":1, "strategy":["hardness_pref"], "query_preference":1},
% 0.13/0.34 {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":1},
% 0.13/0.34 {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":1, "sine":1},
% 0.13/0.34 {"max_dseconds":1, "strategy":["negative_pref"], "query_preference":2, "sine":2},
% 0.13/0.34 {"max_dseconds":1, "strategy":["hardness_pref"], "query_preference":0},
% 0.13/0.34 {"max_dseconds":1, "strategy":["query_focus"], "query_preference":1, "var_weight":1, "weight_select_ratio":100, "repeat_var_weight":1},
% 0.13/0.34 {"max_dseconds":1, "strategy":["query_focus", "unit"], "query_preference":1, "sine":1},
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% 0.13/0.60 fork 5: search finished without proof.
% 0.13/0.62
% 0.13/0.62 **** run 20 fork 3 starts with strategy
% 0.13/0.62 {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":1}
% 0.13/0.62
% 0.13/0.62 fork 7: search finished without proof.
% 0.13/0.62
% 0.13/0.62 **** run 25 fork 0 starts with strategy
% 0.13/0.62 {"max_dseconds":1,"strategy":["query_focus","unit"],"query_preference":1,"sine":1}
% 0.13/0.62
% 0.13/0.62 **** run 30 fork 5 starts with strategy
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% 0.13/0.64
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% 0.13/0.64 fork 4: search terminated without proof.
% 0.13/0.64
% 0.13/0.64 **** run 24 fork 7 starts with strategy
% 0.13/0.64 {"max_dseconds":1,"strategy":["query_focus"],"query_preference":1,"var_weight":1,"weight_select_ratio":100,"repeat_var_weight":1}
% 0.13/0.65
% 0.13/0.65 **** run 21 fork 4 starts with strategy
% 0.13/0.65 {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":1,"sine":1}
% 0.13/0.66
% 0.13/0.66 fork 0: search finished without proof.
% 0.13/0.68
% 0.13/0.68 **** run 33 fork 0 starts with strategy
% 0.13/0.68 {"length_penalty":100,"query_preference":0,"strategy":["negative_pref"],"max_dseconds":1}
% 0.13/0.69
% 0.13/0.69 fork 6: search finished without proof.
% 0.13/0.70
% 0.13/0.70 **** run 31 fork 6 starts with strategy
% 0.13/0.70 {"max_dseconds":1,"strategy":["hardness_pref"],"query_preference":0,"weight_select_ratio":20,"depth_penalty":50,"length_penalty":100}
% 0.13/0.70
% 0.13/0.70 fork 2: search finished without proof.
% 2.85/0.74
% 2.85/0.74 fork 3: search finished without proof.
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% 2.85/0.74 fork 5: search finished without proof.
% 2.85/0.75
% 2.85/0.75 **** run 19 fork 2 starts with strategy
% 2.85/0.75 {"max_dseconds":1,"strategy":["hardness_pref"],"query_preference":1}
% 2.85/0.75
% 2.85/0.75 **** run 28 fork 3 starts with strategy
% 2.85/0.75 {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":0,"sine":1}
% 2.85/0.76
% 2.85/0.76 **** run 38 fork 5 starts with strategy
% 2.85/0.76 {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":1,"sine":2}
% 3.53/0.79
% 3.53/0.79 fork 4: search finished without proof.
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% 3.53/0.79 fork 7: search terminated without proof.
% 3.53/0.80
% 3.53/0.80 fork 5: search finished without proof.
% 3.69/0.81
% 3.69/0.81 **** run 29 fork 4 starts with strategy
% 3.69/0.81 {"max_dseconds":1,"strategy":["unit"],"query_preference":1}
% 3.69/0.81
% 3.69/0.81 **** run 32 fork 7 starts with strategy
% 3.69/0.81 {"max_dseconds":1,"strategy":["hardness_pref","max_ground_weight"],"query_preference":0}
% 3.69/0.82
% 3.69/0.82 **** run 46 fork 5 starts with strategy
% 3.69/0.82 {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
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% 3.69/0.85 **** run 39 fork 6 starts with strategy
% 3.69/0.85 {"max_dseconds":1,"strategy":["query_focus","positive_pref"],"query_preference":1}
% 3.69/0.87
% 3.69/0.87 **** run 41 fork 0 starts with strategy
% 3.69/0.87 {"max_dseconds":1,"strategy":["unit"],"query_preference":1,"reverse_clauselist":1}
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% 3.69/0.88 fork 3: search finished without proof.
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% 3.69/0.90 fork 2: search finished without proof.
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% 3.69/0.90 **** run 36 fork 3 starts with strategy
% 3.69/0.90 {"max_dseconds":1,"strategy":["positive_pref"],"query_preference":0}
% 4.42/0.92
% 4.42/0.92 **** run 27 fork 2 starts with strategy
% 4.42/0.92 {"max_dseconds":1,"strategy":["unit"],"query_preference":0}
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% 4.42/0.93 fork 4: search finished without proof.
% 4.42/0.93
% 4.42/0.93 fork 7: search finished without proof.
% 4.42/0.94
% 4.42/0.94 **** run 37 fork 4 starts with strategy
% 4.42/0.94 {"max_dseconds":1,"strategy":["query_focus"],"query_preference":1,"depth_penalty":100}
% 4.42/0.94
% 4.42/0.94
% 4.42/0.94 fork 5: search terminated without proof.
% 4.42/0.95
% 4.42/0.95 **** run 40 fork 7 starts with strategy
% 4.42/0.95 {"var_weight":70,"repeat_var_weight":70,"max_depth":3,"query_preference":0,"strategy":["negative_pref"],"max_dseconds":1}
% 4.42/0.96
% 4.42/0.96 **** run 54 fork 5 starts with strategy
% 4.42/0.96 {"max_dseconds":10,"strategy":["unit"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 4.42/0.98
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% 4.42/0.98 fork 6: search terminated without proof.
% 5.14/1.00
% 5.14/1.00 fork 0: search finished without proof.
% 5.14/1.00
% 5.14/1.00 **** run 47 fork 6 starts with strategy
% 5.14/1.00 {"max_dseconds":1,"strategy":["unit"],"query_preference":0,"var_weight":1,"depth_penalty":100,"repeat_var_weight":1}
% 5.14/1.02
% 5.14/1.02 **** run 49 fork 0 starts with strategy
% 5.14/1.02 {"max_dseconds":10,"strategy":["negative_pref"],"weight_select_ratio":100,"query_preference":0}
% 5.14/1.02
% 5.14/1.02 fork 3: search finished without proof.
% 5.14/1.04
% 5.14/1.04 **** run 44 fork 3 starts with strategy
% 5.14/1.04 {"max_dseconds":1,"strategy":["query_focus"],"query_preference":1,"var_weight":1,"repeat_var_weight":1}
% 5.14/1.05
% 5.14/1.05 fork 2: search finished without proof.
% 5.14/1.07
% 5.14/1.07 **** run 35 fork 2 starts with strategy
% 5.14/1.07 {"sine":2,"var_weight":70,"repeat_var_weight":70,"max_depth":0,"length_penalty":100,"query_preference":2,"strategy":["unit"],"max_dseconds":1}
% 5.14/1.08
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% 5.14/1.08 fork 7: search terminated without proof.
% 5.14/1.08
% 5.14/1.08
% 5.14/1.08 fork 4: search terminated without proof.
% 5.95/1.10
% 5.95/1.10 **** run 48 fork 7 starts with strategy
% 5.95/1.10 {"weight_select_ratio":100,"length_penalty":100,"query_preference":1,"strategy":["query_focus"],"max_dseconds":1}
% 5.95/1.10
% 5.95/1.10 **** run 45 fork 4 starts with strategy
% 5.95/1.10 {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":1,"var_weight":1,"repeat_var_weight":1}
% 6.09/1.11
% 6.09/1.11 fork 2: search finished without proof.
% 6.09/1.13
% 6.09/1.13 fork 6: search finished without proof.
% 6.09/1.14
% 6.09/1.14 **** run 43 fork 2 starts with strategy
% 6.09/1.14 {"max_dseconds":1,"strategy":["unit","posunitpara"],"query_preference":0,"sine":2}
% 6.09/1.14
% 6.09/1.14 **** run 55 fork 6 starts with strategy
% 6.09/1.14 {"max_dseconds":10,"sine":5,"strategy":["negative_pref"],"query_preference":0}
% 6.09/1.17
% 6.09/1.17
% 6.09/1.17 fork 3: search terminated without proof.
% 6.09/1.18
% 6.09/1.18 fork 6: search finished without proof.
% 6.09/1.18
% 6.09/1.18 fork 2: search finished without proof.
% 6.09/1.19
% 6.09/1.19 **** run 52 fork 3 starts with strategy
% 6.09/1.19 {"max_dseconds":10,"strategy":["unit"],"weight_select_ratio":100,"query_preference":0}
% 6.09/1.19
% 6.09/1.19 **** run 63 fork 6 starts with strategy
% 6.09/1.19 {"max_dseconds":10,"strategy":["query_focus","positive_pref"],"query_preference":0}
% 6.09/1.20
% 6.09/1.20 **** run 51 fork 2 starts with strategy
% 6.09/1.20 {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 6.09/1.22
% 6.09/1.22 fork 4: search finished without proof.
% 6.09/1.24
% 6.09/1.24 **** run 53 fork 4 starts with strategy
% 6.09/1.24 {"max_dseconds":10,"strategy":["negative_pref"],"weight_select_ratio":100,"query_preference":0,"var_weight":70,"repeat_var_weight":70}
% 6.09/1.29
% 6.09/1.29
% 6.09/1.29 fork 7: search terminated without proof.
% 6.09/1.32
% 6.09/1.32 **** run 56 fork 7 starts with strategy
% 6.09/1.32 {"max_dseconds":10,"sine":5,"strategy":["hardness_pref"],"query_preference":0}
% 12.91/1.97
% 12.91/1.97 fork 5: search finished without proof.
% 12.91/2.00
% 12.91/2.00 fork 0: search finished without proof.
% 12.91/2.01
% 12.91/2.01 **** run 62 fork 5 starts with strategy
% 12.91/2.01 {"max_dseconds":10,"strategy":["query_focus","unit"],"query_preference":1}
% 12.91/2.02
% 12.91/2.02 **** run 57 fork 0 starts with strategy
% 12.91/2.02 {"max_dseconds":10,"sine":5,"strategy":["unit"],"query_preference":0}
% 13.26/2.05
% 13.26/2.05 fork 0: search finished without proof.
% 13.26/2.06
% 13.26/2.06 fork 5: search finished without proof.
% 13.26/2.07
% 13.26/2.07 **** run 65 fork 0 starts with strategy
% 13.26/2.07 {"max_dseconds":10,"strategy":["query_focus"],"query_preference":3}
% 13.26/2.07
% 13.26/2.07 **** run 70 fork 5 starts with strategy
% 13.26/2.07 {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":2,"sine":2}
% 13.81/2.10 No candidate clauses found.
% 13.81/2.10
% 13.81/2.10
% 13.81/2.10 fork 0: search terminated without proof.
% 13.81/2.11
% 13.81/2.11 fork 5: search finished without proof.
% 13.81/2.11
% 13.81/2.11 **** run 73 fork 0 starts with strategy
% 13.81/2.11 {"max_dseconds":10,"strategy":["query_focus","unit"],"query_preference":1,"sine":1}
% 14.04/2.12
% 14.04/2.12 **** run 78 fork 5 starts with strategy
% 14.04/2.12 {"max_dseconds":10,"strategy":["hardness_pref"],"query_preference":2}
% 14.04/2.14
% 14.04/2.14 fork 3: search finished without proof.
% 14.04/2.15
% 14.04/2.15 fork 0: search finished without proof.
% 14.04/2.17
% 14.04/2.17 **** run 60 fork 3 starts with strategy
% 14.04/2.17 {"max_dseconds":10,"strategy":["query_focus","unit"],"query_preference":0}
% 14.04/2.17
% 14.04/2.17 **** run 81 fork 0 starts with strategy
% 14.04/2.17 {"length_penalty":100,"query_preference":0,"strategy":["negative_pref"],"max_dseconds":10}
% 14.67/2.23
% 14.67/2.23
% 14.67/2.23 fork 6: search terminated without proof.
% 14.67/2.24
% 14.67/2.24
% 14.67/2.24 fork 2: search terminated without proof.
% 14.67/2.25
% 14.67/2.25 **** run 71 fork 6 starts with strategy
% 14.67/2.25 {"max_dseconds":10,"strategy":["hardness_pref"],"query_preference":0}
% 14.67/2.26
% 14.67/2.26 **** run 59 fork 2 starts with strategy
% 14.67/2.26 {"max_dseconds":10,"strategy":["query_focus"],"query_preference":1}
% 14.67/2.26
% 14.67/2.26 fork 4: search finished without proof.
% 14.67/2.26
% 14.67/2.26 fork 3: search finished without proof.
% 14.67/2.27
% 14.67/2.27 fork 7: search finished without proof.
% 15.29/2.28
% 15.29/2.28 **** run 68 fork 3 starts with strategy
% 15.29/2.28 {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":1}
% 15.29/2.28
% 15.29/2.28 **** run 61 fork 4 starts with strategy
% 15.29/2.28 {"max_dseconds":10,"strategy":["query_focus","max_ground_weight"],"query_preference":1}
% 15.29/2.28
% 15.29/2.28 **** run 64 fork 7 starts with strategy
% 15.29/2.29 {"max_dseconds":10,"strategy":["query_focus","unit"],"query_preference":2}
% 15.29/2.36
% 15.29/2.36 fork 7: search finished without proof.
% 16.04/2.37
% 16.04/2.37 **** run 72 fork 7 starts with strategy
% 16.04/2.37 {"max_dseconds":10,"strategy":["query_focus"],"query_preference":1,"var_weight":1,"weight_select_ratio":100,"repeat_var_weight":1}
% 20.15/2.96
% 20.15/2.96
% 20.15/2.96 fork 1: search terminated without proof.
% 20.74/2.99
% 20.74/2.99 **** run 18 fork 1 starts with strategy
% 20.74/2.99 {"max_dseconds":1,"strategy":["negative_pref"],"query_preference":0}
% 21.68/3.09
% 21.68/3.09 fork 5: search finished without proof.
% 21.68/3.11
% 21.68/3.11 **** run 86 fork 5 starts with strategy
% 21.68/3.11 {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":1,"sine":2}
% 21.68/3.12
% 21.68/3.12
% 21.68/3.12 fork 1: search terminated without proof.
% 21.91/3.14
% 21.91/3.14 **** run 26 fork 1 starts with strategy
% 21.91/3.14 {"max_dseconds":1,"strategy":["query_focus","double"],"query_preference":1}
% 21.91/3.15
% 21.91/3.15 fork 5: search finished without proof.
% 21.91/3.16
% 21.91/3.16 **** run 94 fork 5 starts with strategy
% 21.91/3.16 {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 21.91/3.21
% 21.91/3.21 fork 6: search finished without proof.
% 22.49/3.23
% 22.49/3.23 fork 3: search finished without proof.
% 22.49/3.23
% 22.49/3.23 **** run 79 fork 6 starts with strategy
% 22.49/3.23 {"max_dseconds":10,"strategy":["hardness_pref"],"query_preference":0,"weight_select_ratio":20,"depth_penalty":50,"length_penalty":100}
% 22.49/3.24
% 22.49/3.24 **** run 76 fork 3 starts with strategy
% 22.49/3.24 {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":0,"sine":1}
% 22.49/3.25
% 22.49/3.25
% 22.49/3.25 fork 0: search terminated without proof.
% 22.49/3.27
% 22.49/3.27 **** run 89 fork 0 starts with strategy
% 22.49/3.27 {"max_dseconds":10,"strategy":["unit"],"query_preference":1,"reverse_clauselist":1}
% 22.49/3.28
% 22.49/3.28
% 22.49/3.28 fork 1: search terminated without proof.
% 23.24/3.30
% 23.24/3.30
% 23.24/3.30 fork 2: search terminated without proof.
% 23.24/3.31
% 23.24/3.31 **** run 34 fork 1 starts with strategy
% 23.24/3.31 {"strategy":["hardness_pref","max_weight"],"length_penalty":100,"depth_penalty":50,"max_depth":3,"var_weight":10,"repeat_var_weight":10,"max_dseconds":1}
% 23.24/3.32
% 23.24/3.32 **** run 67 fork 2 starts with strategy
% 23.24/3.32 {"max_dseconds":10,"strategy":["hardness_pref"],"query_preference":1}
% 24.05/3.41
% 24.05/3.41
% 24.05/3.41 fork 7: search terminated without proof.
% 24.05/3.41
% 24.05/3.41
% 24.05/3.41 fork 4: search terminated without proof.
% 24.05/3.41
% 24.05/3.41 fork 3: search finished without proof.
% 24.24/3.43
% 24.24/3.43 **** run 80 fork 7 starts with strategy
% 24.24/3.43 {"max_dseconds":10,"strategy":["hardness_pref","max_ground_weight"],"query_preference":0}
% 24.24/3.43
% 24.24/3.43 **** run 69 fork 4 starts with strategy
% 24.24/3.43 {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":1,"sine":1}
% 24.24/3.43
% 24.24/3.43 **** run 84 fork 3 starts with strategy
% 24.24/3.43 {"max_dseconds":10,"strategy":["positive_pref"],"query_preference":0}
% 24.24/3.44
% 24.24/3.44
% 24.24/3.44 fork 1: search terminated without proof.
% 24.24/3.46
% 24.24/3.46 **** run 42 fork 1 starts with strategy
% 24.24/3.46 {"max_dseconds":1,"strategy":["unit"],"query_preference":0,"sine":2}
% 24.24/3.51
% 24.24/3.51 fork 1: search finished without proof.
% 25.05/3.53
% 25.05/3.53 **** run 50 fork 1 starts with strategy
% 25.05/3.53 {"max_dseconds":10,"strategy":["hardness_pref"],"weight_select_ratio":100,"query_preference":0}
% 25.62/3.60
% 25.62/3.60 fork 4: search finished without proof.
% 25.62/3.61
% 25.62/3.61 **** run 77 fork 4 starts with strategy
% 25.62/3.61 {"max_dseconds":10,"strategy":["unit"],"query_preference":1}
% 29.68/4.19
% 29.68/4.19
% 29.68/4.19 fork 5: search terminated without proof.
% 29.68/4.21
% 29.68/4.21 **** run 102 fork 5 starts with strategy
% 29.68/4.21 {"max_dseconds":50,"strategy":["unit"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 30.37/4.23
% 30.37/4.23 fork 6: search finished without proof.
% 30.37/4.24
% 30.37/4.24 **** run 87 fork 6 starts with strategy
% 30.37/4.24 {"max_dseconds":10,"strategy":["query_focus","positive_pref"],"query_preference":1}
% 30.37/4.26
% 30.37/4.26 fork 2: search finished without proof.
% 30.37/4.28
% 30.37/4.28 **** run 75 fork 2 starts with strategy
% 30.37/4.28 {"max_dseconds":10,"strategy":["unit"],"query_preference":0}
% 30.93/4.36
% 30.93/4.36 fork 0: search finished without proof.
% 31.60/4.37
% 31.60/4.37 fork 7: search finished without proof.
% 31.72/4.38
% 31.72/4.38 **** run 97 fork 0 starts with strategy
% 31.72/4.38 {"max_dseconds":50,"strategy":["negative_pref"],"weight_select_ratio":100,"query_preference":0}
% 31.72/4.39
% 31.72/4.39 **** run 88 fork 7 starts with strategy
% 31.72/4.39 {"var_weight":70,"repeat_var_weight":70,"max_depth":3,"query_preference":0,"strategy":["negative_pref"],"max_dseconds":10}
% 31.72/4.39
% 31.72/4.39 fork 3: search finished without proof.
% 31.72/4.41
% 31.72/4.41 **** run 92 fork 3 starts with strategy
% 31.72/4.41 {"max_dseconds":10,"strategy":["query_focus"],"query_preference":1,"var_weight":1,"repeat_var_weight":1}
% 32.73/4.57
% 32.73/4.57 fork 1: search finished without proof.
% 32.73/4.58
% 32.73/4.58 **** run 58 fork 1 starts with strategy
% 32.73/4.58 {"max_dseconds":10,"strategy":["query_focus"],"query_preference":2}
% 33.43/4.64
% 33.43/4.64 fork 4: search finished without proof.
% 33.43/4.67
% 33.43/4.67 **** run 85 fork 4 starts with strategy
% 33.43/4.67 {"max_dseconds":10,"strategy":["query_focus"],"query_preference":1,"depth_penalty":100}
% 38.40/5.26
% 38.40/5.26 fork 2: search finished without proof.
% 38.40/5.29
% 38.40/5.29 **** run 83 fork 2 starts with strategy
% 38.40/5.29 {"sine":2,"var_weight":70,"repeat_var_weight":70,"max_depth":0,"length_penalty":100,"query_preference":2,"strategy":["unit"],"max_dseconds":10}
% 38.96/5.32
% 38.96/5.32
% 38.96/5.32 fork 6: search terminated without proof.
% 38.96/5.33
% 38.96/5.33 fork 2: search finished without proof.
% 38.96/5.34
% 38.96/5.34 **** run 95 fork 6 starts with strategy
% 38.96/5.34 {"max_dseconds":10,"strategy":["unit"],"query_preference":0,"var_weight":1,"depth_penalty":100,"repeat_var_weight":1}
% 38.96/5.34
% 38.96/5.34 **** run 91 fork 2 starts with strategy
% 38.96/5.34 {"max_dseconds":10,"strategy":["unit","posunitpara"],"query_preference":0,"sine":2}
% 39.46/5.38
% 39.46/5.38 fork 2: search finished without proof.
% 39.46/5.39
% 39.46/5.39 **** run 99 fork 2 starts with strategy
% 39.46/5.39 {"max_dseconds":50,"strategy":["negative_pref"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 39.46/5.42
% 39.46/5.42
% 39.46/5.42 fork 7: search terminated without proof.
% 39.46/5.44
% 39.46/5.44 **** run 96 fork 7 starts with strategy
% 39.46/5.44 {"weight_select_ratio":100,"length_penalty":100,"query_preference":1,"strategy":["query_focus"],"max_dseconds":10}
% 39.46/5.44
% 39.46/5.44
% 39.46/5.44 fork 3: search terminated without proof.
% 40.19/5.46
% 40.19/5.46 **** run 100 fork 3 starts with strategy
% 40.19/5.46 {"max_dseconds":50,"strategy":["unit"],"weight_select_ratio":100,"query_preference":0}
% 41.83/5.71
% 41.83/5.71
% 41.83/5.71 fork 4: search terminated without proof.
% 41.83/5.74
% 41.83/5.74 **** run 93 fork 4 starts with strategy
% 41.83/5.74 {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":1,"var_weight":1,"repeat_var_weight":1}
% 46.32/6.32
% 46.32/6.32 fork 6: search finished without proof.
% 46.99/6.34
% 46.99/6.34 **** run 103 fork 6 starts with strategy
% 46.99/6.34 {"max_dseconds":50,"sine":5,"strategy":["negative_pref"],"query_preference":0}
% 46.99/6.37
% 46.99/6.37 fork 6: search finished without proof.
% 46.99/6.39
% 46.99/6.39 **** run 111 fork 6 starts with strategy
% 46.99/6.39 {"max_dseconds":50,"strategy":["query_focus","positive_pref"],"query_preference":0}
% 47.86/6.51
% 47.86/6.51
% 47.86/6.51 fork 7: search terminated without proof.
% 47.86/6.53
% 47.86/6.53 **** run 104 fork 7 starts with strategy
% 47.86/6.53 {"max_dseconds":50,"sine":5,"strategy":["hardness_pref"],"query_preference":0}
% 49.61/6.69
% 49.61/6.69 fork 4: search finished without proof.
% 49.61/6.71
% 49.61/6.71 **** run 101 fork 4 starts with strategy
% 49.61/6.71 {"max_dseconds":50,"strategy":["negative_pref"],"weight_select_ratio":100,"query_preference":0,"var_weight":70,"repeat_var_weight":70}
% 50.29/6.78
% 50.29/6.78
% 50.29/6.78 fork 1: search terminated without proof.
% 50.55/6.79
% 50.55/6.79 **** run 66 fork 1 starts with strategy
% 50.55/6.79 {"max_dseconds":10,"strategy":["negative_pref"],"query_preference":0}
% 52.01/7.11
% 52.01/7.11
% 52.01/7.11 result: proof found
% 52.01/7.11 for /export/starexec/sandbox/benchmark/theBenchmark.p
% 52.01/7.11 by run 102 fork 5 strategy {"max_dseconds":50,"strategy":["unit"],"query_preference":0,"weight_select_ratio":100,"depth_penalty":100,"length_penalty":100}
% 52.01/7.11 % SZS status Unsatisfiable for /export/starexec/sandbox/benchmark/theBenchmark.p
% 52.01/7.11
% 52.01/7.11 % SZS output start CNFRefutation for /export/starexec/sandbox/benchmark/theBenchmark.p
% See solution above
% 53.22/7.16
% 53.22/7.16 run 102 fork 5 statistics:
% 53.22/7.16 ----------------------------------
% 53.22/7.16 this run seconds: 2.774298
% 53.22/7.16 total seconds: 6.654507
% 53.22/7.16 stat_given_used: 27585
% 53.22/7.16 stat_given_used_at_endgame: 0
% 53.22/7.16 stat_given_candidates: 38874
% 53.22/7.16 stat_given_candidates_at_endgame: 0
% 53.22/7.16 stat_given_candidates_h: 0
% 53.22/7.16 stat_binres_derived_cl: 100943
% 53.22/7.16 stat_binres_derived_cl_h: 0
% 53.22/7.16 stat_factor_derived_cl: 4646
% 53.22/7.16 stat_para_derived_cl: 0
% 53.22/7.16 stat_tautologies_discarded: 0
% 53.22/7.16 stat_forward_subsumed: 54658
% 53.22/7.16 stat_derived_cut: 15487
% 53.22/7.16 stat_derived_rewritten: 0
% 53.22/7.16 stat_weight_discarded_building: 0
% 53.22/7.16 stat_weight_discarded_cl: 0
% 53.22/7.16 stat_internlimit_discarded_cl: 0
% 53.22/7.16 stat_simplified: 996 simplified 0 derived 0 given
% 53.22/7.16 stat_kept_cl: 50930
% 53.22/7.16 stat_built_cl: 107096
% 53.22/7.16 stat_hyperres_partial_cl: 0
% 53.22/7.16 stat_made_rewriters: 0
% 53.22/7.16 stat_backward_subsumed: 0
% 53.22/7.16 stat_propagated_subsumed: 0
% 53.22/7.16 stat_clsubs_attempted: 1176331
% 53.22/7.16 stat_clsubs_fact_groundunit_found: 57
% 53.22/7.16 stat_clsubs_rule_groundunit_found: 54
% 53.22/7.16 stat_clsubs_top_meta_attempted: 297588057
% 53.22/7.16 stat_clsubs_top_meta_failed: 296411726
% 53.22/7.16 stat_clsubs_top_meta_nonpref_attempted: 297588057
% 53.22/7.16 stat_clsubs_top_meta_nonpref_succeeded: 52328047
% 53.22/7.16 stat_clsubs_top_meta_pref_attempted: 52328047
% 53.22/7.16 stat_clsubs_top_meta_pref1_succeeded: 1736951
% 53.22/7.16 stat_clsubs_top_meta_pref2_succeeded: 1449665
% 53.22/7.16 stat_clsubs_top_meta_pref3_succeeded: 1176331
% 53.22/7.16 stat_clsubs_top_meta_pref_succeeded: 1176331
% 53.22/7.16 stat_clsubs_meta_attempted: 3392168
% 53.22/7.16 stat_clsubs_meta_failed: 641272
% 53.22/7.16 stat_clsubs_predsymbs_attempted: 0
% 53.22/7.16 stat_clsubs_unit_attempted: 509161
% 53.22/7.16 stat_clsubs_full_attempted: 667170
% 53.22/7.16 stat_forwardsubs_attempted: 105589
% 53.22/7.16 stat_lit_hash_added: 57590
% 53.22/7.16 stat_lit_hash_computed: 660990
% 53.22/7.16 stat_lit_hash_match_found: 108137
% 53.22/7.16 stat_lit_hash_match_miss: 761575
% 53.22/7.16 stat_lit_hash_cut_ok: 51376
% 53.22/7.16 stat_lit_strong_cut_ok: 0
% 53.22/7.16 stat_lit_hash_subsume_ok: 54658
% 53.22/7.16 clqueue els 10000000 used 1
% 53.22/7.16 clactive els 10000000 used 27586
% 53.22/7.16 clactivesubsume els 10000000 used 79627
% 53.22/7.16 queue_termbuf els 200000000 used 2245833
% 53.22/7.16 hyper_termbuf els 100000000 used 1
% 53.22/7.16 active_termbuf els 100000000 used 609495
% 53.22/7.16 varstack els 5000 last used 1
% 53.22/7.16 given_termbuf els 10000000 last used 1
% 53.22/7.16 simplified_termbuf els 10000000 last used 1
% 53.22/7.16 derived_termbuf els 10000000 last used 30
% 53.22/7.16 wr_mallocs: 191791
% 53.22/7.16 wr_callocs: 19
% 53.22/7.16 wr_reallocs: 7908
% 53.22/7.16 wr_frees: 4
% 53.22/7.16 wr_malloc_bytes: 4169375284
% 53.22/7.16 wr_calloc_bytes: 96065504
% 53.22/7.16 wr_realloc_bytes: 4254776
% 53.22/7.16 wr_realloc_freebytes: 0
% 53.22/7.16 ----------------------------------
%------------------------------------------------------------------------------