TPTP Problem File: SWV423-1.100.p
View Solutions
- Solve Problem
%------------------------------------------------------------------------------
% File : SWV423-1.100 : TPTP v8.2.0. Released v3.5.0.
% Domain : Software Verification
% Problem : Production cell control liveness k=100
% Version : Especial.
% English : Model checking of a production cell control model. The property
% to check is a liveness property that the system will not enter a
% deadlock state.
% Refs : [Win97] Winter (1997), Model Checking for Abstract State Machi
% : [CC+02] Cimatti et al (2002), NuSmv 2 An OpenSource Tool for S
% : [NV07a] Navarro (2007), Email to Geoff Sutcliffe
% : [NV07b] Navarro & Voronkov (2007), Encodings of Bounded LTL Mo
% Source : [NV07a]
% Names : production-cell [CC+02]
% : prodcell-k100 [NV07a]
% Status : Unsatisfiable
% Rating : 0.67 v8.2.0, 0.33 v8.1.0, 0.00 v7.4.0, 0.33 v7.3.0, 0.70 v7.2.0, 0.78 v7.1.0, 0.71 v7.0.0, 0.86 v6.4.0, 0.67 v6.3.0, 0.50 v6.2.0, 1.00 v6.0.0, 0.75 v5.5.0, 1.00 v3.5.0
% Syntax : Number of clauses : 1100 ( 148 unt; 183 nHn;1052 RR)
% Number of literals : 3588 ( 0 equ;2115 neg)
% Maximal clause size : 101 ( 3 avg)
% Maximal term depth : 1 ( 1 avg)
% Number of predicates : 340 ( 340 usr; 1 prp; 0-3 aty)
% Number of functors : 144 ( 144 usr; 144 con; 0-0 aty)
% Number of variables : 2135 ( 39 sgn)
% SPC : CNF_UNS_EPR_NEQ_NHN
% Comments : Darwin run times seem to have a growth of order k^3.
% Memory requirements grow linearly, but the system description
% is rather large (228 KB in tptp).
% Darwin (2007) runs out of memory at k >= 85.
% : Translated from [CC+02] using [NV07b]
%------------------------------------------------------------------------------
cnf(bound1,axiom,
succ(s0,s1) ).
cnf(bound2,axiom,
succ(s1,s2) ).
cnf(bound3,axiom,
succ(s2,s3) ).
cnf(bound4,axiom,
succ(s3,s4) ).
cnf(bound5,axiom,
succ(s4,s5) ).
cnf(bound6,axiom,
succ(s5,s6) ).
cnf(bound7,axiom,
succ(s6,s7) ).
cnf(bound8,axiom,
succ(s7,s8) ).
cnf(bound9,axiom,
succ(s8,s9) ).
cnf(bound10,axiom,
succ(s9,s10) ).
cnf(bound11,axiom,
succ(s10,s11) ).
cnf(bound12,axiom,
succ(s11,s12) ).
cnf(bound13,axiom,
succ(s12,s13) ).
cnf(bound14,axiom,
succ(s13,s14) ).
cnf(bound15,axiom,
succ(s14,s15) ).
cnf(bound16,axiom,
succ(s15,s16) ).
cnf(bound17,axiom,
succ(s16,s17) ).
cnf(bound18,axiom,
succ(s17,s18) ).
cnf(bound19,axiom,
succ(s18,s19) ).
cnf(bound20,axiom,
succ(s19,s20) ).
cnf(bound21,axiom,
succ(s20,s21) ).
cnf(bound22,axiom,
succ(s21,s22) ).
cnf(bound23,axiom,
succ(s22,s23) ).
cnf(bound24,axiom,
succ(s23,s24) ).
cnf(bound25,axiom,
succ(s24,s25) ).
cnf(bound26,axiom,
succ(s25,s26) ).
cnf(bound27,axiom,
succ(s26,s27) ).
cnf(bound28,axiom,
succ(s27,s28) ).
cnf(bound29,axiom,
succ(s28,s29) ).
cnf(bound30,axiom,
succ(s29,s30) ).
cnf(bound31,axiom,
succ(s30,s31) ).
cnf(bound32,axiom,
succ(s31,s32) ).
cnf(bound33,axiom,
succ(s32,s33) ).
cnf(bound34,axiom,
succ(s33,s34) ).
cnf(bound35,axiom,
succ(s34,s35) ).
cnf(bound36,axiom,
succ(s35,s36) ).
cnf(bound37,axiom,
succ(s36,s37) ).
cnf(bound38,axiom,
succ(s37,s38) ).
cnf(bound39,axiom,
succ(s38,s39) ).
cnf(bound40,axiom,
succ(s39,s40) ).
cnf(bound41,axiom,
succ(s40,s41) ).
cnf(bound42,axiom,
succ(s41,s42) ).
cnf(bound43,axiom,
succ(s42,s43) ).
cnf(bound44,axiom,
succ(s43,s44) ).
cnf(bound45,axiom,
succ(s44,s45) ).
cnf(bound46,axiom,
succ(s45,s46) ).
cnf(bound47,axiom,
succ(s46,s47) ).
cnf(bound48,axiom,
succ(s47,s48) ).
cnf(bound49,axiom,
succ(s48,s49) ).
cnf(bound50,axiom,
succ(s49,s50) ).
cnf(bound51,axiom,
succ(s50,s51) ).
cnf(bound52,axiom,
succ(s51,s52) ).
cnf(bound53,axiom,
succ(s52,s53) ).
cnf(bound54,axiom,
succ(s53,s54) ).
cnf(bound55,axiom,
succ(s54,s55) ).
cnf(bound56,axiom,
succ(s55,s56) ).
cnf(bound57,axiom,
succ(s56,s57) ).
cnf(bound58,axiom,
succ(s57,s58) ).
cnf(bound59,axiom,
succ(s58,s59) ).
cnf(bound60,axiom,
succ(s59,s60) ).
cnf(bound61,axiom,
succ(s60,s61) ).
cnf(bound62,axiom,
succ(s61,s62) ).
cnf(bound63,axiom,
succ(s62,s63) ).
cnf(bound64,axiom,
succ(s63,s64) ).
cnf(bound65,axiom,
succ(s64,s65) ).
cnf(bound66,axiom,
succ(s65,s66) ).
cnf(bound67,axiom,
succ(s66,s67) ).
cnf(bound68,axiom,
succ(s67,s68) ).
cnf(bound69,axiom,
succ(s68,s69) ).
cnf(bound70,axiom,
succ(s69,s70) ).
cnf(bound71,axiom,
succ(s70,s71) ).
cnf(bound72,axiom,
succ(s71,s72) ).
cnf(bound73,axiom,
succ(s72,s73) ).
cnf(bound74,axiom,
succ(s73,s74) ).
cnf(bound75,axiom,
succ(s74,s75) ).
cnf(bound76,axiom,
succ(s75,s76) ).
cnf(bound77,axiom,
succ(s76,s77) ).
cnf(bound78,axiom,
succ(s77,s78) ).
cnf(bound79,axiom,
succ(s78,s79) ).
cnf(bound80,axiom,
succ(s79,s80) ).
cnf(bound81,axiom,
succ(s80,s81) ).
cnf(bound82,axiom,
succ(s81,s82) ).
cnf(bound83,axiom,
succ(s82,s83) ).
cnf(bound84,axiom,
succ(s83,s84) ).
cnf(bound85,axiom,
succ(s84,s85) ).
cnf(bound86,axiom,
succ(s85,s86) ).
cnf(bound87,axiom,
succ(s86,s87) ).
cnf(bound88,axiom,
succ(s87,s88) ).
cnf(bound89,axiom,
succ(s88,s89) ).
cnf(bound90,axiom,
succ(s89,s90) ).
cnf(bound91,axiom,
succ(s90,s91) ).
cnf(bound92,axiom,
succ(s91,s92) ).
cnf(bound93,axiom,
succ(s92,s93) ).
cnf(bound94,axiom,
succ(s93,s94) ).
cnf(bound95,axiom,
succ(s94,s95) ).
cnf(bound96,axiom,
succ(s95,s96) ).
cnf(bound97,axiom,
succ(s96,s97) ).
cnf(bound98,axiom,
succ(s97,s98) ).
cnf(bound99,axiom,
succ(s98,s99) ).
cnf(bound100,axiom,
last(s99) ).
cnf(bound101,axiom,
( ~ succ(X,Y)
| trans(X,Y) ) ).
cnf(bound102,axiom,
( ~ loop
| trans(s99,s0)
| trans(s99,s1)
| trans(s99,s2)
| trans(s99,s3)
| trans(s99,s4)
| trans(s99,s5)
| trans(s99,s6)
| trans(s99,s7)
| trans(s99,s8)
| trans(s99,s9)
| trans(s99,s10)
| trans(s99,s11)
| trans(s99,s12)
| trans(s99,s13)
| trans(s99,s14)
| trans(s99,s15)
| trans(s99,s16)
| trans(s99,s17)
| trans(s99,s18)
| trans(s99,s19)
| trans(s99,s20)
| trans(s99,s21)
| trans(s99,s22)
| trans(s99,s23)
| trans(s99,s24)
| trans(s99,s25)
| trans(s99,s26)
| trans(s99,s27)
| trans(s99,s28)
| trans(s99,s29)
| trans(s99,s30)
| trans(s99,s31)
| trans(s99,s32)
| trans(s99,s33)
| trans(s99,s34)
| trans(s99,s35)
| trans(s99,s36)
| trans(s99,s37)
| trans(s99,s38)
| trans(s99,s39)
| trans(s99,s40)
| trans(s99,s41)
| trans(s99,s42)
| trans(s99,s43)
| trans(s99,s44)
| trans(s99,s45)
| trans(s99,s46)
| trans(s99,s47)
| trans(s99,s48)
| trans(s99,s49)
| trans(s99,s50)
| trans(s99,s51)
| trans(s99,s52)
| trans(s99,s53)
| trans(s99,s54)
| trans(s99,s55)
| trans(s99,s56)
| trans(s99,s57)
| trans(s99,s58)
| trans(s99,s59)
| trans(s99,s60)
| trans(s99,s61)
| trans(s99,s62)
| trans(s99,s63)
| trans(s99,s64)
| trans(s99,s65)
| trans(s99,s66)
| trans(s99,s67)
| trans(s99,s68)
| trans(s99,s69)
| trans(s99,s70)
| trans(s99,s71)
| trans(s99,s72)
| trans(s99,s73)
| trans(s99,s74)
| trans(s99,s75)
| trans(s99,s76)
| trans(s99,s77)
| trans(s99,s78)
| trans(s99,s79)
| trans(s99,s80)
| trans(s99,s81)
| trans(s99,s82)
| trans(s99,s83)
| trans(s99,s84)
| trans(s99,s85)
| trans(s99,s86)
| trans(s99,s87)
| trans(s99,s88)
| trans(s99,s89)
| trans(s99,s90)
| trans(s99,s91)
| trans(s99,s92)
| trans(s99,s93)
| trans(s99,s94)
| trans(s99,s95)
| trans(s99,s96)
| trans(s99,s97)
| trans(s99,s98)
| trans(s99,s99) ) ).
cnf(m_main_1,axiom,
m_Communication_v_s(c_COM,c_s) ).
cnf(m_main_2,axiom,
m_Crane_v_s(c_CR,c_s) ).
cnf(m_main_3,axiom,
m_DepositBelt_v_s(c_DB,c_s) ).
cnf(m_main_4,axiom,
m_ERTable_v_s(c_ERT,c_s) ).
cnf(m_main_5,axiom,
m_FeedBelt_v_s(c_FB,c_s) ).
cnf(m_main_6,axiom,
m_Press_v_s(c_PR,c_s) ).
cnf(m_main_7,axiom,
m_Robot_v_s(c_RB,c_s) ).
cnf(m_main_8,axiom,
m_Sensor_v_s(c_SEN,c_s) ).
cnf(m_Communication_1,axiom,
( m_state_v_angle(J0,X,c_arm1totable)
| ~ node1(J0,X) ) ).
cnf(m_Communication_2,axiom,
( m_state_v_A1M(J0,X,c_retract)
| ~ node1(J0,X) ) ).
cnf(m_Communication_3,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node1(J0,X) ) ).
cnf(m_Communication_4,axiom,
( m_state_v_FBM(J0,X,c_on)
| ~ node2(J0,X) ) ).
cnf(m_Communication_5,axiom,
( m_state_v_deliv(J0,X)
| ~ node2(J0,X) ) ).
cnf(m_Communication_6,axiom,
( ~ m_state_v_pfl(J0,X)
| ~ node2(J0,X) ) ).
cnf(m_Communication_7,axiom,
( m_state_v_tl(J0,Y)
| ~ m_state_v_tl(J0,X)
| ~ node3(J0,X,Y) ) ).
cnf(m_Communication_8,axiom,
( ~ m_state_v_tl(J0,Y)
| m_state_v_tl(J0,X)
| ~ node3(J0,X,Y) ) ).
cnf(m_Communication_9,axiom,
( ~ m_state_v_angle(J0,X,c_arm1totable)
| ~ m_state_v_A1M(J0,X,c_retract)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| ~ m_state_v_tl(J0,Y)
| ~ node4(J0,X,Y) ) ).
cnf(m_Communication_10,axiom,
( node1(J0,X)
| ~ m_state_v_FBM(J0,X,c_on)
| ~ m_state_v_deliv(J0,X)
| m_state_v_pfl(J0,X)
| m_state_v_tl(J0,Y)
| ~ node4(J0,X,Y) ) ).
cnf(m_Communication_11,axiom,
( node1(J0,X)
| node2(J0,X)
| node3(J0,X,Y)
| ~ node4(J0,X,Y) ) ).
cnf(m_Communication_12,axiom,
( ~ trans(X,Y)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| node4(J0,X,Y) ) ).
cnf(m_Communication_13,axiom,
( m_state_v_CVM(J0,X,c_up)
| ~ node5(J0,X) ) ).
cnf(m_Communication_14,axiom,
( m_state_v_gvp(J0,X,c_sd)
| ~ node5(J0,X) ) ).
cnf(m_Communication_15,axiom,
( m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ node6(J0,X) ) ).
cnf(m_Communication_16,axiom,
( m_state_v_A2M(J0,X,c_retract)
| ~ node6(J0,X) ) ).
cnf(m_Communication_17,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node6(J0,X) ) ).
cnf(m_Communication_18,axiom,
( m_state_v_brl(J0,Y)
| ~ m_state_v_brl(J0,X)
| ~ node7(J0,X,Y) ) ).
cnf(m_Communication_19,axiom,
( ~ m_state_v_brl(J0,Y)
| m_state_v_brl(J0,X)
| ~ node7(J0,X,Y) ) ).
cnf(m_Communication_20,axiom,
( ~ m_state_v_CVM(J0,X,c_up)
| ~ m_state_v_gvp(J0,X,c_sd)
| m_state_v_brl(J0,Y)
| ~ node8(J0,X,Y) ) ).
cnf(m_Communication_21,axiom,
( node5(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ m_state_v_A2M(J0,X,c_retract)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| ~ m_state_v_brl(J0,Y)
| ~ node8(J0,X,Y) ) ).
cnf(m_Communication_22,axiom,
( node5(J0,X)
| node6(J0,X)
| node7(J0,X,Y)
| ~ node8(J0,X,Y) ) ).
cnf(m_Communication_23,axiom,
( ~ trans(X,Y)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| node8(J0,X,Y) ) ).
cnf(m_Communication_24,axiom,
( m_state_v_CVM(J0,X,c_up)
| ~ node9(J0,X) ) ).
cnf(m_Communication_25,axiom,
( m_state_v_gvp(J0,X,c_sd)
| ~ node9(J0,X) ) ).
cnf(m_Communication_26,axiom,
( m_state_v_DBM(J0,X,c_run)
| ~ node10(J0,X) ) ).
cnf(m_Communication_27,axiom,
( m_state_v_crit(J0,X)
| ~ node10(J0,X) ) ).
cnf(m_Communication_28,axiom,
( ~ m_state_v_pbl(J0,X)
| ~ node10(J0,X) ) ).
cnf(m_Communication_29,axiom,
( m_state_v_pbe(J0,Y)
| ~ m_state_v_pbe(J0,X)
| ~ node11(J0,X,Y) ) ).
cnf(m_Communication_30,axiom,
( ~ m_state_v_pbe(J0,Y)
| m_state_v_pbe(J0,X)
| ~ node11(J0,X,Y) ) ).
cnf(m_Communication_31,axiom,
( ~ m_state_v_CVM(J0,X,c_up)
| ~ m_state_v_gvp(J0,X,c_sd)
| ~ m_state_v_pbe(J0,Y)
| ~ node12(J0,X,Y) ) ).
cnf(m_Communication_32,axiom,
( node9(J0,X)
| ~ m_state_v_DBM(J0,X,c_run)
| ~ m_state_v_crit(J0,X)
| m_state_v_pbl(J0,X)
| m_state_v_pbe(J0,Y)
| ~ node12(J0,X,Y) ) ).
cnf(m_Communication_33,axiom,
( node9(J0,X)
| node10(J0,X)
| node11(J0,X,Y)
| ~ node12(J0,X,Y) ) ).
cnf(m_Communication_34,axiom,
( ~ trans(X,Y)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| node12(J0,X,Y) ) ).
cnf(m_Communication_35,axiom,
( m_state_v_FBM(J0,X,c_on)
| ~ node13(J0,X) ) ).
cnf(m_Communication_36,axiom,
( ~ m_state_v_deliv(J0,X)
| ~ node13(J0,X) ) ).
cnf(m_Communication_37,axiom,
( m_state_v_pfl(J0,X)
| ~ node13(J0,X) ) ).
cnf(m_Communication_38,axiom,
( m_state_v_CVM(J0,X,c_idle)
| ~ node14(J0,X) ) ).
cnf(m_Communication_39,axiom,
( m_state_v_gvp(J0,X,c_ovf)
| ~ node14(J0,X) ) ).
cnf(m_Communication_40,axiom,
( m_state_v_gof(J0,X)
| ~ node14(J0,X) ) ).
cnf(m_Communication_41,axiom,
( m_state_v_CHM(J0,X,c_idle)
| ~ node14(J0,X) ) ).
cnf(m_Communication_42,axiom,
( m_state_v_CMag(J0,X,c_off)
| ~ node14(J0,X) ) ).
cnf(m_Communication_43,axiom,
( m_state_v_ff(J0,Y)
| ~ m_state_v_ff(J0,X)
| ~ node15(J0,X,Y) ) ).
cnf(m_Communication_44,axiom,
( ~ m_state_v_ff(J0,Y)
| m_state_v_ff(J0,X)
| ~ node15(J0,X,Y) ) ).
cnf(m_Communication_45,axiom,
( ~ m_state_v_FBM(J0,X,c_on)
| m_state_v_deliv(J0,X)
| ~ m_state_v_pfl(J0,X)
| m_state_v_ff(J0,Y)
| ~ node16(J0,X,Y) ) ).
cnf(m_Communication_46,axiom,
( node13(J0,X)
| ~ m_state_v_CVM(J0,X,c_idle)
| ~ m_state_v_gvp(J0,X,c_ovf)
| ~ m_state_v_gof(J0,X)
| ~ m_state_v_CHM(J0,X,c_idle)
| ~ m_state_v_CMag(J0,X,c_off)
| ~ m_state_v_ff(J0,Y)
| ~ node16(J0,X,Y) ) ).
cnf(m_Communication_47,axiom,
( node13(J0,X)
| node14(J0,X)
| node15(J0,X,Y)
| ~ node16(J0,X,Y) ) ).
cnf(m_Communication_48,axiom,
( ~ trans(X,Y)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| ~ m_Communication_v_s(I0,J0)
| node16(J0,X,Y) ) ).
cnf(m_Sensor_1,axiom,
( m_state_v_FBM(J0,X,c_on)
| ~ node17(J0,X) ) ).
cnf(m_Sensor_2,axiom,
( ~ m_state_v_deliv(J0,X)
| ~ node17(J0,X) ) ).
cnf(m_Sensor_3,axiom,
( ~ m_state_v_ff(J0,X)
| ~ node17(J0,X) ) ).
cnf(m_Sensor_4,axiom,
( m_state_v_FBM(J0,X,c_on)
| ~ node18(J0,X) ) ).
cnf(m_Sensor_5,axiom,
( m_state_v_deliv(J0,X)
| ~ node18(J0,X) ) ).
cnf(m_Sensor_6,axiom,
( m_state_v_pfl(J0,Y)
| ~ m_state_v_pfl(J0,X)
| ~ node19(J0,X,Y) ) ).
cnf(m_Sensor_7,axiom,
( ~ m_state_v_pfl(J0,Y)
| m_state_v_pfl(J0,X)
| ~ node19(J0,X,Y) ) ).
cnf(m_Sensor_8,axiom,
( ~ m_state_v_FBM(J0,X,c_on)
| m_state_v_deliv(J0,X)
| m_state_v_ff(J0,X)
| m_state_v_pfl(J0,Y)
| ~ node20(J0,X,Y) ) ).
cnf(m_Sensor_9,axiom,
( node17(J0,X)
| ~ m_state_v_FBM(J0,X,c_on)
| ~ m_state_v_deliv(J0,X)
| ~ m_state_v_pfl(J0,Y)
| ~ node20(J0,X,Y) ) ).
cnf(m_Sensor_10,axiom,
( node17(J0,X)
| node18(J0,X)
| node19(J0,X,Y)
| ~ node20(J0,X,Y) ) ).
cnf(m_Sensor_11,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node20(J0,X,Y) ) ).
cnf(m_Sensor_12,axiom,
( m_state_v_topPos(J0,Y)
| ~ m_state_v_topPos(J0,X)
| ~ node21(J0,X,Y) ) ).
cnf(m_Sensor_13,axiom,
( ~ m_state_v_topPos(J0,Y)
| m_state_v_topPos(J0,X)
| ~ node21(J0,X,Y) ) ).
cnf(m_Sensor_14,axiom,
( ~ m_state_v_TEM(J0,X,c_up)
| m_state_v_topPos(J0,Y)
| ~ node22(J0,X,Y) ) ).
cnf(m_Sensor_15,axiom,
( m_state_v_TEM(J0,X,c_up)
| ~ m_state_v_TEM(J0,X,c_down)
| ~ m_state_v_topPos(J0,Y)
| ~ node22(J0,X,Y) ) ).
cnf(m_Sensor_16,axiom,
( m_state_v_TEM(J0,X,c_up)
| m_state_v_TEM(J0,X,c_down)
| node21(J0,X,Y)
| ~ node22(J0,X,Y) ) ).
cnf(m_Sensor_17,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node22(J0,X,Y) ) ).
cnf(m_Sensor_18,axiom,
( m_state_v_botPos(J0,Y)
| ~ m_state_v_botPos(J0,X)
| ~ node23(J0,X,Y) ) ).
cnf(m_Sensor_19,axiom,
( ~ m_state_v_botPos(J0,Y)
| m_state_v_botPos(J0,X)
| ~ node23(J0,X,Y) ) ).
cnf(m_Sensor_20,axiom,
( ~ m_state_v_TEM(J0,X,c_down)
| m_state_v_botPos(J0,Y)
| ~ node24(J0,X,Y) ) ).
cnf(m_Sensor_21,axiom,
( m_state_v_TEM(J0,X,c_down)
| ~ m_state_v_TEM(J0,X,c_up)
| ~ m_state_v_botPos(J0,Y)
| ~ node24(J0,X,Y) ) ).
cnf(m_Sensor_22,axiom,
( m_state_v_TEM(J0,X,c_down)
| m_state_v_TEM(J0,X,c_up)
| node23(J0,X,Y)
| ~ node24(J0,X,Y) ) ).
cnf(m_Sensor_23,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node24(J0,X,Y) ) ).
cnf(m_Sensor_24,axiom,
( m_state_v_minRot(J0,Y)
| ~ m_state_v_minRot(J0,X)
| ~ node25(J0,X,Y) ) ).
cnf(m_Sensor_25,axiom,
( ~ m_state_v_minRot(J0,Y)
| m_state_v_minRot(J0,X)
| ~ node25(J0,X,Y) ) ).
cnf(m_Sensor_26,axiom,
( ~ m_state_v_TRM(J0,X,c_counterclockwise)
| m_state_v_minRot(J0,Y)
| ~ node26(J0,X,Y) ) ).
cnf(m_Sensor_27,axiom,
( m_state_v_TRM(J0,X,c_counterclockwise)
| ~ m_state_v_TRM(J0,X,c_clockwise)
| ~ m_state_v_minRot(J0,Y)
| ~ node26(J0,X,Y) ) ).
cnf(m_Sensor_28,axiom,
( m_state_v_TRM(J0,X,c_counterclockwise)
| m_state_v_TRM(J0,X,c_clockwise)
| node25(J0,X,Y)
| ~ node26(J0,X,Y) ) ).
cnf(m_Sensor_29,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node26(J0,X,Y) ) ).
cnf(m_Sensor_30,axiom,
( m_state_v_maxRot(J0,Y)
| ~ m_state_v_maxRot(J0,X)
| ~ node27(J0,X,Y) ) ).
cnf(m_Sensor_31,axiom,
( ~ m_state_v_maxRot(J0,Y)
| m_state_v_maxRot(J0,X)
| ~ node27(J0,X,Y) ) ).
cnf(m_Sensor_32,axiom,
( ~ m_state_v_TRM(J0,X,c_clockwise)
| m_state_v_maxRot(J0,Y)
| ~ node28(J0,X,Y) ) ).
cnf(m_Sensor_33,axiom,
( m_state_v_TRM(J0,X,c_clockwise)
| ~ m_state_v_TRM(J0,X,c_counterclockwise)
| ~ m_state_v_maxRot(J0,Y)
| ~ node28(J0,X,Y) ) ).
cnf(m_Sensor_34,axiom,
( m_state_v_TRM(J0,X,c_clockwise)
| m_state_v_TRM(J0,X,c_counterclockwise)
| node27(J0,X,Y)
| ~ node28(J0,X,Y) ) ).
cnf(m_Sensor_35,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node28(J0,X,Y) ) ).
cnf(m_Sensor_36,axiom,
( m_state_v_A1M(J0,X,c_extend)
| ~ node29(J0,X) ) ).
cnf(m_Sensor_37,axiom,
( m_state_v_angle(J0,X,c_arm1totable)
| ~ node29(J0,X) ) ).
cnf(m_Sensor_38,axiom,
( m_state_v_A1M(J0,X,c_extend)
| ~ node30(J0,X) ) ).
cnf(m_Sensor_39,axiom,
( m_state_v_angle(J0,X,c_arm1topress)
| ~ node30(J0,X) ) ).
cnf(m_Sensor_40,axiom,
( m_state_v_a1ext(J0,Y,V)
| ~ m_state_v_a1ext(J0,X,V)
| ~ node31(J0,X,Y) ) ).
cnf(m_Sensor_41,axiom,
( ~ m_state_v_a1ext(J0,Y,V)
| m_state_v_a1ext(J0,X,V)
| ~ node31(J0,X,Y) ) ).
cnf(m_Sensor_42,axiom,
( ~ m_state_v_A1M(J0,X,c_extend)
| ~ m_state_v_angle(J0,X,c_arm1totable)
| m_state_v_a1ext(J0,Y,c_ot)
| ~ node32(J0,X,Y) ) ).
cnf(m_Sensor_43,axiom,
( node29(J0,X)
| ~ m_state_v_A1M(J0,X,c_extend)
| ~ m_state_v_angle(J0,X,c_arm1topress)
| m_state_v_a1ext(J0,Y,c_a1ip)
| ~ node32(J0,X,Y) ) ).
cnf(m_Sensor_44,axiom,
( node29(J0,X)
| node30(J0,X)
| ~ m_state_v_A1M(J0,X,c_retract)
| m_state_v_a1ext(J0,Y,c_retracted)
| ~ node32(J0,X,Y) ) ).
cnf(m_Sensor_45,axiom,
( node29(J0,X)
| node30(J0,X)
| m_state_v_A1M(J0,X,c_retract)
| node31(J0,X,Y)
| ~ node32(J0,X,Y) ) ).
cnf(m_Sensor_46,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node32(J0,X,Y) ) ).
cnf(m_Sensor_47,axiom,
( m_state_v_A2M(J0,X,c_extend)
| ~ node33(J0,X) ) ).
cnf(m_Sensor_48,axiom,
( m_state_v_angle(J0,X,c_arm2topress)
| ~ node33(J0,X) ) ).
cnf(m_Sensor_49,axiom,
( m_state_v_A2M(J0,X,c_extend)
| ~ node34(J0,X) ) ).
cnf(m_Sensor_50,axiom,
( m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ node34(J0,X) ) ).
cnf(m_Sensor_51,axiom,
( m_state_v_a2ext(J0,Y,V)
| ~ m_state_v_a2ext(J0,X,V)
| ~ node35(J0,X,Y) ) ).
cnf(m_Sensor_52,axiom,
( ~ m_state_v_a2ext(J0,Y,V)
| m_state_v_a2ext(J0,X,V)
| ~ node35(J0,X,Y) ) ).
cnf(m_Sensor_53,axiom,
( ~ m_state_v_A2M(J0,X,c_extend)
| ~ m_state_v_angle(J0,X,c_arm2topress)
| m_state_v_a2ext(J0,Y,c_a2ip)
| ~ node36(J0,X,Y) ) ).
cnf(m_Sensor_54,axiom,
( node33(J0,X)
| ~ m_state_v_A2M(J0,X,c_extend)
| ~ m_state_v_angle(J0,X,c_arm2todepbelt)
| m_state_v_a2ext(J0,Y,c_ob)
| ~ node36(J0,X,Y) ) ).
cnf(m_Sensor_55,axiom,
( node33(J0,X)
| node34(J0,X)
| ~ m_state_v_A2M(J0,X,c_retract)
| m_state_v_a2ext(J0,Y,c_retracted)
| ~ node36(J0,X,Y) ) ).
cnf(m_Sensor_56,axiom,
( node33(J0,X)
| node34(J0,X)
| m_state_v_A2M(J0,X,c_retract)
| node35(J0,X,Y)
| ~ node36(J0,X,Y) ) ).
cnf(m_Sensor_57,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node36(J0,X,Y) ) ).
cnf(m_Sensor_58,axiom,
( m_state_v_angle(J0,X,c_arm1totable)
| ~ node37(J0,X) ) ).
cnf(m_Sensor_59,axiom,
( m_state_v_RRM(J0,X,c_counterclock)
| ~ node37(J0,X) ) ).
cnf(m_Sensor_60,axiom,
( m_state_v_angle_status(J0,X,c_arm1stoppedattable)
| ~ node37(J0,X) ) ).
cnf(m_Sensor_61,axiom,
( m_state_v_angle(J0,X,c_arm2topress)
| ~ node38(J0,X) ) ).
cnf(m_Sensor_62,axiom,
( m_state_v_RRM(J0,X,c_counterclock)
| ~ node38(J0,X) ) ).
cnf(m_Sensor_63,axiom,
( m_state_v_angle_status(J0,X,c_arm2stoppedatpress)
| ~ node38(J0,X) ) ).
cnf(m_Sensor_64,axiom,
( m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ node39(J0,X) ) ).
cnf(m_Sensor_65,axiom,
( m_state_v_RRM(J0,X,c_counterclock)
| ~ node39(J0,X) ) ).
cnf(m_Sensor_66,axiom,
( m_state_v_angle_status(J0,X,c_arm2stoppedatbelt)
| ~ node39(J0,X) ) ).
cnf(m_Sensor_67,axiom,
( m_state_v_angle(J0,X,c_arm1topress)
| ~ node40(J0,X) ) ).
cnf(m_Sensor_68,axiom,
( m_state_v_RRM(J0,X,c_clockwise)
| ~ node40(J0,X) ) ).
cnf(m_Sensor_69,axiom,
( m_state_v_angle_status(J0,X,c_arm1stoppedatpress)
| ~ node40(J0,X) ) ).
cnf(m_Sensor_70,axiom,
( m_state_v_angle(J0,Y,V)
| ~ m_state_v_angle(J0,X,V)
| ~ node41(J0,X,Y) ) ).
cnf(m_Sensor_71,axiom,
( ~ m_state_v_angle(J0,Y,V)
| m_state_v_angle(J0,X,V)
| ~ node41(J0,X,Y) ) ).
cnf(m_Sensor_72,axiom,
( ~ m_state_v_angle(J0,X,c_arm1totable)
| ~ m_state_v_RRM(J0,X,c_counterclock)
| ~ m_state_v_angle_status(J0,X,c_arm1stoppedattable)
| m_state_v_angle(J0,Y,c_arm2topress)
| ~ node42(J0,X,Y) ) ).
cnf(m_Sensor_73,axiom,
( node37(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2topress)
| ~ m_state_v_RRM(J0,X,c_counterclock)
| ~ m_state_v_angle_status(J0,X,c_arm2stoppedatpress)
| m_state_v_angle(J0,Y,c_arm2todepbelt)
| ~ node42(J0,X,Y) ) ).
cnf(m_Sensor_74,axiom,
( node37(J0,X)
| node38(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ m_state_v_RRM(J0,X,c_counterclock)
| ~ m_state_v_angle_status(J0,X,c_arm2stoppedatbelt)
| m_state_v_angle(J0,Y,c_arm1topress)
| ~ node42(J0,X,Y) ) ).
cnf(m_Sensor_75,axiom,
( node37(J0,X)
| node38(J0,X)
| node39(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1topress)
| ~ m_state_v_RRM(J0,X,c_clockwise)
| ~ m_state_v_angle_status(J0,X,c_arm1stoppedatpress)
| m_state_v_angle(J0,Y,c_arm1totable)
| ~ node42(J0,X,Y) ) ).
cnf(m_Sensor_76,axiom,
( node37(J0,X)
| node38(J0,X)
| node39(J0,X)
| node40(J0,X)
| node41(J0,X,Y)
| ~ node42(J0,X,Y) ) ).
cnf(m_Sensor_77,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node42(J0,X,Y) ) ).
cnf(m_Sensor_78,axiom,
( m_state_v_angle(J0,X,c_arm1totable)
| ~ node43(J0,X) ) ).
cnf(m_Sensor_79,axiom,
( m_state_v_RRM(J0,X,c_idle)
| ~ node43(J0,X) ) ).
cnf(m_Sensor_80,axiom,
( m_state_v_angle(J0,X,c_arm2topress)
| ~ node44(J0,X) ) ).
cnf(m_Sensor_81,axiom,
( m_state_v_RRM(J0,X,c_idle)
| ~ node44(J0,X) ) ).
cnf(m_Sensor_82,axiom,
( m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ node45(J0,X) ) ).
cnf(m_Sensor_83,axiom,
( m_state_v_RRM(J0,X,c_idle)
| ~ node45(J0,X) ) ).
cnf(m_Sensor_84,axiom,
( m_state_v_angle(J0,X,c_arm1topress)
| ~ node46(J0,X) ) ).
cnf(m_Sensor_85,axiom,
( m_state_v_RRM(J0,X,c_idle)
| ~ node46(J0,X) ) ).
cnf(m_Sensor_86,axiom,
( m_state_v_angle_status(J0,Y,V)
| ~ m_state_v_angle_status(J0,X,V)
| ~ node47(J0,X,Y) ) ).
cnf(m_Sensor_87,axiom,
( ~ m_state_v_angle_status(J0,Y,V)
| m_state_v_angle_status(J0,X,V)
| ~ node47(J0,X,Y) ) ).
cnf(m_Sensor_88,axiom,
( ~ m_state_v_angle(J0,X,c_arm1totable)
| ~ m_state_v_RRM(J0,X,c_idle)
| m_state_v_angle_status(J0,Y,c_arm1stoppedattable)
| ~ node48(J0,X,Y) ) ).
cnf(m_Sensor_89,axiom,
( node43(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2topress)
| ~ m_state_v_RRM(J0,X,c_idle)
| m_state_v_angle_status(J0,Y,c_arm2stoppedatpress)
| ~ node48(J0,X,Y) ) ).
cnf(m_Sensor_90,axiom,
( node43(J0,X)
| node44(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ m_state_v_RRM(J0,X,c_idle)
| m_state_v_angle_status(J0,Y,c_arm2stoppedatbelt)
| ~ node48(J0,X,Y) ) ).
cnf(m_Sensor_91,axiom,
( node43(J0,X)
| node44(J0,X)
| node45(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1topress)
| ~ m_state_v_RRM(J0,X,c_idle)
| m_state_v_angle_status(J0,Y,c_arm1stoppedatpress)
| ~ node48(J0,X,Y) ) ).
cnf(m_Sensor_92,axiom,
( node43(J0,X)
| node44(J0,X)
| node45(J0,X)
| node46(J0,X)
| node47(J0,X,Y)
| ~ node48(J0,X,Y) ) ).
cnf(m_Sensor_93,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node48(J0,X,Y) ) ).
cnf(m_Sensor_94,axiom,
( m_state_v_topPosP(J0,X)
| ~ node49(J0,X) ) ).
cnf(m_Sensor_95,axiom,
( m_state_v_PM(J0,X,c_down)
| ~ node49(J0,X) ) ).
cnf(m_Sensor_96,axiom,
( m_state_v_midPosP(J0,X)
| ~ node50(J0,X) ) ).
cnf(m_Sensor_97,axiom,
( m_state_v_PM(J0,X,c_up)
| ~ node50(J0,X) ) ).
cnf(m_Sensor_98,axiom,
( m_state_v_press_status(J0,X,c_pressatmid)
| ~ node50(J0,X) ) ).
cnf(m_Sensor_99,axiom,
( m_state_v_topPosP(J0,Y)
| ~ m_state_v_topPosP(J0,X)
| ~ node51(J0,X,Y) ) ).
cnf(m_Sensor_100,axiom,
( ~ m_state_v_topPosP(J0,Y)
| m_state_v_topPosP(J0,X)
| ~ node51(J0,X,Y) ) ).
cnf(m_Sensor_101,axiom,
( ~ m_state_v_topPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_down)
| ~ m_state_v_topPosP(J0,Y)
| ~ node52(J0,X,Y) ) ).
cnf(m_Sensor_102,axiom,
( node49(J0,X)
| ~ m_state_v_midPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_up)
| ~ m_state_v_press_status(J0,X,c_pressatmid)
| m_state_v_topPosP(J0,Y)
| ~ node52(J0,X,Y) ) ).
cnf(m_Sensor_103,axiom,
( node49(J0,X)
| node50(J0,X)
| node51(J0,X,Y)
| ~ node52(J0,X,Y) ) ).
cnf(m_Sensor_104,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node52(J0,X,Y) ) ).
cnf(m_Sensor_105,axiom,
( m_state_v_botPosP(J0,X)
| ~ node53(J0,X) ) ).
cnf(m_Sensor_106,axiom,
( m_state_v_PM(J0,X,c_up)
| ~ node53(J0,X) ) ).
cnf(m_Sensor_107,axiom,
( m_state_v_midPosP(J0,X)
| ~ node54(J0,X) ) ).
cnf(m_Sensor_108,axiom,
( m_state_v_PM(J0,X,c_up)
| ~ node54(J0,X) ) ).
cnf(m_Sensor_109,axiom,
( m_state_v_press_status(J0,X,c_pressatmid)
| ~ node54(J0,X) ) ).
cnf(m_Sensor_110,axiom,
( m_state_v_midPosP(J0,Y)
| ~ m_state_v_midPosP(J0,X)
| ~ node55(J0,X,Y) ) ).
cnf(m_Sensor_111,axiom,
( ~ m_state_v_midPosP(J0,Y)
| m_state_v_midPosP(J0,X)
| ~ node55(J0,X,Y) ) ).
cnf(m_Sensor_112,axiom,
( ~ m_state_v_botPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_up)
| m_state_v_midPosP(J0,Y)
| ~ node56(J0,X,Y) ) ).
cnf(m_Sensor_113,axiom,
( node53(J0,X)
| ~ m_state_v_midPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_up)
| ~ m_state_v_press_status(J0,X,c_pressatmid)
| ~ m_state_v_midPosP(J0,Y)
| ~ node56(J0,X,Y) ) ).
cnf(m_Sensor_114,axiom,
( node53(J0,X)
| node54(J0,X)
| node55(J0,X,Y)
| ~ node56(J0,X,Y) ) ).
cnf(m_Sensor_115,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node56(J0,X,Y) ) ).
cnf(m_Sensor_116,axiom,
( m_state_v_botPosP(J0,X)
| ~ node57(J0,X) ) ).
cnf(m_Sensor_117,axiom,
( m_state_v_PM(J0,X,c_up)
| ~ node57(J0,X) ) ).
cnf(m_Sensor_118,axiom,
( m_state_v_topPosP(J0,X)
| ~ node58(J0,X) ) ).
cnf(m_Sensor_119,axiom,
( m_state_v_PM(J0,X,c_down)
| ~ node58(J0,X) ) ).
cnf(m_Sensor_120,axiom,
( m_state_v_botPosP(J0,Y)
| ~ m_state_v_botPosP(J0,X)
| ~ node59(J0,X,Y) ) ).
cnf(m_Sensor_121,axiom,
( ~ m_state_v_botPosP(J0,Y)
| m_state_v_botPosP(J0,X)
| ~ node59(J0,X,Y) ) ).
cnf(m_Sensor_122,axiom,
( ~ m_state_v_botPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_up)
| ~ m_state_v_botPosP(J0,Y)
| ~ node60(J0,X,Y) ) ).
cnf(m_Sensor_123,axiom,
( node57(J0,X)
| ~ m_state_v_topPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_down)
| m_state_v_botPosP(J0,Y)
| ~ node60(J0,X,Y) ) ).
cnf(m_Sensor_124,axiom,
( node57(J0,X)
| node58(J0,X)
| node59(J0,X,Y)
| ~ node60(J0,X,Y) ) ).
cnf(m_Sensor_125,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node60(J0,X,Y) ) ).
cnf(m_Sensor_126,axiom,
( m_state_v_topPosP(J0,X)
| ~ node61(J0,X) ) ).
cnf(m_Sensor_127,axiom,
( m_state_v_PM(J0,X,c_idle)
| ~ node61(J0,X) ) ).
cnf(m_Sensor_128,axiom,
( m_state_v_pl(J0,X)
| ~ node61(J0,X) ) ).
cnf(m_Sensor_129,axiom,
( m_state_v_fc(J0,Y)
| ~ m_state_v_fc(J0,X)
| ~ node62(J0,X,Y) ) ).
cnf(m_Sensor_130,axiom,
( ~ m_state_v_fc(J0,Y)
| m_state_v_fc(J0,X)
| ~ node62(J0,X,Y) ) ).
cnf(m_Sensor_131,axiom,
( ~ m_state_v_topPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_idle)
| ~ m_state_v_pl(J0,X)
| m_state_v_fc(J0,Y)
| ~ node63(J0,X,Y) ) ).
cnf(m_Sensor_132,axiom,
( node61(J0,X)
| m_state_v_pl(J0,X)
| ~ m_state_v_fc(J0,Y)
| ~ node63(J0,X,Y) ) ).
cnf(m_Sensor_133,axiom,
( node61(J0,X)
| ~ m_state_v_pl(J0,X)
| node62(J0,X,Y)
| ~ node63(J0,X,Y) ) ).
cnf(m_Sensor_134,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node63(J0,X,Y) ) ).
cnf(m_Sensor_135,axiom,
( m_state_v_topPosP(J0,X)
| ~ node64(J0,X) ) ).
cnf(m_Sensor_136,axiom,
( m_state_v_PM(J0,X,c_idle)
| ~ node64(J0,X) ) ).
cnf(m_Sensor_137,axiom,
( m_state_v_midPosP(J0,X)
| ~ node65(J0,X) ) ).
cnf(m_Sensor_138,axiom,
( m_state_v_PM(J0,X,c_idle)
| ~ node65(J0,X) ) ).
cnf(m_Sensor_139,axiom,
( m_state_v_botPosP(J0,X)
| ~ node66(J0,X) ) ).
cnf(m_Sensor_140,axiom,
( m_state_v_PM(J0,X,c_idle)
| ~ node66(J0,X) ) ).
cnf(m_Sensor_141,axiom,
( m_state_v_press_status(J0,Y,V)
| ~ m_state_v_press_status(J0,X,V)
| ~ node67(J0,X,Y) ) ).
cnf(m_Sensor_142,axiom,
( ~ m_state_v_press_status(J0,Y,V)
| m_state_v_press_status(J0,X,V)
| ~ node67(J0,X,Y) ) ).
cnf(m_Sensor_143,axiom,
( ~ m_state_v_topPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_idle)
| m_state_v_press_status(J0,Y,c_pressattop)
| ~ node68(J0,X,Y) ) ).
cnf(m_Sensor_144,axiom,
( node64(J0,X)
| ~ m_state_v_midPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_idle)
| m_state_v_press_status(J0,Y,c_pressatmid)
| ~ node68(J0,X,Y) ) ).
cnf(m_Sensor_145,axiom,
( node64(J0,X)
| node65(J0,X)
| ~ m_state_v_botPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_idle)
| m_state_v_press_status(J0,Y,c_pressatbot)
| ~ node68(J0,X,Y) ) ).
cnf(m_Sensor_146,axiom,
( node64(J0,X)
| node65(J0,X)
| node66(J0,X)
| node67(J0,X,Y)
| ~ node68(J0,X,Y) ) ).
cnf(m_Sensor_147,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node68(J0,X,Y) ) ).
cnf(m_Sensor_148,axiom,
( m_state_v_DBM(J0,X,c_run)
| ~ node69(J0,X) ) ).
cnf(m_Sensor_149,axiom,
( ~ m_state_v_brl(J0,X)
| ~ node69(J0,X) ) ).
cnf(m_Sensor_150,axiom,
( ~ m_state_v_pbl(J0,X)
| ~ node69(J0,X) ) ).
cnf(m_Sensor_151,axiom,
( m_state_v_DBM(J0,X,c_run)
| ~ node70(J0,X) ) ).
cnf(m_Sensor_152,axiom,
( m_state_v_crit(J0,X)
| ~ node70(J0,X) ) ).
cnf(m_Sensor_153,axiom,
( m_state_v_pbl(J0,X)
| ~ node70(J0,X) ) ).
cnf(m_Sensor_154,axiom,
( m_state_v_pbl(J0,Y)
| ~ m_state_v_pbl(J0,X)
| ~ node71(J0,X,Y) ) ).
cnf(m_Sensor_155,axiom,
( ~ m_state_v_pbl(J0,Y)
| m_state_v_pbl(J0,X)
| ~ node71(J0,X,Y) ) ).
cnf(m_Sensor_156,axiom,
( ~ m_state_v_DBM(J0,X,c_run)
| m_state_v_brl(J0,X)
| m_state_v_pbl(J0,X)
| m_state_v_pbl(J0,Y)
| ~ node72(J0,X,Y) ) ).
cnf(m_Sensor_157,axiom,
( node69(J0,X)
| ~ m_state_v_DBM(J0,X,c_run)
| ~ m_state_v_crit(J0,X)
| ~ m_state_v_pbl(J0,X)
| ~ m_state_v_pbl(J0,Y)
| ~ node72(J0,X,Y) ) ).
cnf(m_Sensor_158,axiom,
( node69(J0,X)
| node70(J0,X)
| node71(J0,X,Y)
| ~ node72(J0,X,Y) ) ).
cnf(m_Sensor_159,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node72(J0,X,Y) ) ).
cnf(m_Sensor_160,axiom,
( m_state_v_gob(J0,Y)
| ~ m_state_v_gob(J0,X)
| ~ node73(J0,X,Y) ) ).
cnf(m_Sensor_161,axiom,
( ~ m_state_v_gob(J0,Y)
| m_state_v_gob(J0,X)
| ~ node73(J0,X,Y) ) ).
cnf(m_Sensor_162,axiom,
( ~ m_state_v_CHM(J0,X,c_todepbelt)
| m_state_v_gob(J0,Y)
| ~ node74(J0,X,Y) ) ).
cnf(m_Sensor_163,axiom,
( m_state_v_CHM(J0,X,c_todepbelt)
| ~ m_state_v_CHM(J0,X,c_tofeedbelt)
| ~ m_state_v_gob(J0,Y)
| ~ node74(J0,X,Y) ) ).
cnf(m_Sensor_164,axiom,
( m_state_v_CHM(J0,X,c_todepbelt)
| m_state_v_CHM(J0,X,c_tofeedbelt)
| node73(J0,X,Y)
| ~ node74(J0,X,Y) ) ).
cnf(m_Sensor_165,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node74(J0,X,Y) ) ).
cnf(m_Sensor_166,axiom,
( m_state_v_gof(J0,Y)
| ~ m_state_v_gof(J0,X)
| ~ node75(J0,X,Y) ) ).
cnf(m_Sensor_167,axiom,
( ~ m_state_v_gof(J0,Y)
| m_state_v_gof(J0,X)
| ~ node75(J0,X,Y) ) ).
cnf(m_Sensor_168,axiom,
( ~ m_state_v_CHM(J0,X,c_tofeedbelt)
| m_state_v_gof(J0,Y)
| ~ node76(J0,X,Y) ) ).
cnf(m_Sensor_169,axiom,
( m_state_v_CHM(J0,X,c_tofeedbelt)
| ~ m_state_v_CHM(J0,X,c_todepbelt)
| ~ m_state_v_gof(J0,Y)
| ~ node76(J0,X,Y) ) ).
cnf(m_Sensor_170,axiom,
( m_state_v_CHM(J0,X,c_tofeedbelt)
| m_state_v_CHM(J0,X,c_todepbelt)
| node75(J0,X,Y)
| ~ node76(J0,X,Y) ) ).
cnf(m_Sensor_171,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node76(J0,X,Y) ) ).
cnf(m_Sensor_172,axiom,
( m_state_v_gvp(J0,X,c_ovb)
| ~ node77(J0,X) ) ).
cnf(m_Sensor_173,axiom,
( m_state_v_gripper_status(J0,X,c_gripperstoppedat_ovb)
| ~ node77(J0,X) ) ).
cnf(m_Sensor_174,axiom,
( m_state_v_CVM(J0,X,c_up)
| ~ node77(J0,X) ) ).
cnf(m_Sensor_175,axiom,
( m_state_v_gvp(J0,X,c_sd)
| ~ node78(J0,X) ) ).
cnf(m_Sensor_176,axiom,
( m_state_v_gripper_status(J0,X,c_gripperstoppedat_sd)
| ~ node78(J0,X) ) ).
cnf(m_Sensor_177,axiom,
( m_state_v_CVM(J0,X,c_down)
| ~ node78(J0,X) ) ).
cnf(m_Sensor_178,axiom,
( m_state_v_gvp(J0,X,c_ovf)
| ~ node79(J0,X) ) ).
cnf(m_Sensor_179,axiom,
( m_state_v_gripper_status(J0,X,c_gripperstoppedat_ovf)
| ~ node79(J0,X) ) ).
cnf(m_Sensor_180,axiom,
( m_state_v_CVM(J0,X,c_down)
| ~ node79(J0,X) ) ).
cnf(m_Sensor_181,axiom,
( m_state_v_gvp(J0,X,c_ovf)
| ~ node80(J0,X) ) ).
cnf(m_Sensor_182,axiom,
( m_state_v_gripper_status(J0,X,c_gripperstoppedat_ovf)
| ~ node80(J0,X) ) ).
cnf(m_Sensor_183,axiom,
( m_state_v_CVM(J0,X,c_up)
| ~ node80(J0,X) ) ).
cnf(m_Sensor_184,axiom,
( m_state_v_gvp(J0,Y,V)
| ~ m_state_v_gvp(J0,X,V)
| ~ node81(J0,X,Y) ) ).
cnf(m_Sensor_185,axiom,
( ~ m_state_v_gvp(J0,Y,V)
| m_state_v_gvp(J0,X,V)
| ~ node81(J0,X,Y) ) ).
cnf(m_Sensor_186,axiom,
( ~ m_state_v_gvp(J0,X,c_ovb)
| ~ m_state_v_gripper_status(J0,X,c_gripperstoppedat_ovb)
| ~ m_state_v_CVM(J0,X,c_up)
| m_state_v_gvp(J0,Y,c_sd)
| ~ node82(J0,X,Y) ) ).
cnf(m_Sensor_187,axiom,
( node77(J0,X)
| ~ m_state_v_gvp(J0,X,c_sd)
| ~ m_state_v_gripper_status(J0,X,c_gripperstoppedat_sd)
| ~ m_state_v_CVM(J0,X,c_down)
| m_state_v_gvp(J0,Y,c_ovf)
| ~ node82(J0,X,Y) ) ).
cnf(m_Sensor_188,axiom,
( node77(J0,X)
| node78(J0,X)
| ~ m_state_v_gvp(J0,X,c_ovf)
| ~ m_state_v_gripper_status(J0,X,c_gripperstoppedat_ovf)
| ~ m_state_v_CVM(J0,X,c_down)
| m_state_v_gvp(J0,Y,c_ovb)
| ~ node82(J0,X,Y) ) ).
cnf(m_Sensor_189,axiom,
( node77(J0,X)
| node78(J0,X)
| node79(J0,X)
| ~ m_state_v_gvp(J0,X,c_ovf)
| ~ m_state_v_gripper_status(J0,X,c_gripperstoppedat_ovf)
| ~ m_state_v_CVM(J0,X,c_up)
| m_state_v_gvp(J0,Y,c_sd)
| ~ node82(J0,X,Y) ) ).
cnf(m_Sensor_190,axiom,
( node77(J0,X)
| node78(J0,X)
| node79(J0,X)
| node80(J0,X)
| node81(J0,X,Y)
| ~ node82(J0,X,Y) ) ).
cnf(m_Sensor_191,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node82(J0,X,Y) ) ).
cnf(m_Sensor_192,axiom,
( m_state_v_CVM(J0,X,c_idle)
| ~ node83(J0,X) ) ).
cnf(m_Sensor_193,axiom,
( m_state_v_gvp(J0,X,c_ovb)
| ~ node83(J0,X) ) ).
cnf(m_Sensor_194,axiom,
( m_state_v_CVM(J0,X,c_idle)
| ~ node84(J0,X) ) ).
cnf(m_Sensor_195,axiom,
( m_state_v_gvp(J0,X,c_ovf)
| ~ node84(J0,X) ) ).
cnf(m_Sensor_196,axiom,
( m_state_v_CVM(J0,X,c_idle)
| ~ node85(J0,X) ) ).
cnf(m_Sensor_197,axiom,
( m_state_v_gvp(J0,X,c_sd)
| ~ node85(J0,X) ) ).
cnf(m_Sensor_198,axiom,
( m_state_v_gripper_status(J0,Y,V)
| ~ m_state_v_gripper_status(J0,X,V)
| ~ node86(J0,X,Y) ) ).
cnf(m_Sensor_199,axiom,
( ~ m_state_v_gripper_status(J0,Y,V)
| m_state_v_gripper_status(J0,X,V)
| ~ node86(J0,X,Y) ) ).
cnf(m_Sensor_200,axiom,
( ~ m_state_v_CVM(J0,X,c_idle)
| ~ m_state_v_gvp(J0,X,c_ovb)
| m_state_v_gripper_status(J0,Y,c_gripperstoppedat_ovb)
| ~ node87(J0,X,Y) ) ).
cnf(m_Sensor_201,axiom,
( node83(J0,X)
| ~ m_state_v_CVM(J0,X,c_idle)
| ~ m_state_v_gvp(J0,X,c_ovf)
| m_state_v_gripper_status(J0,Y,c_gripperstoppedat_ovf)
| ~ node87(J0,X,Y) ) ).
cnf(m_Sensor_202,axiom,
( node83(J0,X)
| node84(J0,X)
| ~ m_state_v_CVM(J0,X,c_idle)
| ~ m_state_v_gvp(J0,X,c_sd)
| m_state_v_gripper_status(J0,Y,c_gripperstoppedat_sd)
| ~ node87(J0,X,Y) ) ).
cnf(m_Sensor_203,axiom,
( node83(J0,X)
| node84(J0,X)
| node85(J0,X)
| node86(J0,X,Y)
| ~ node87(J0,X,Y) ) ).
cnf(m_Sensor_204,axiom,
( ~ trans(X,Y)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| ~ m_Sensor_v_s(I0,J0)
| node87(J0,X,Y) ) ).
cnf(m_Crane_1,axiom,
( m_state_v_gob(J0,X)
| ~ node88(J0,X) ) ).
cnf(m_Crane_2,axiom,
( m_state_v_gvp(J0,X,c_ovb)
| ~ node88(J0,X) ) ).
cnf(m_Crane_3,axiom,
( m_state_v_CHM(J0,X,c_idle)
| ~ node88(J0,X) ) ).
cnf(m_Crane_4,axiom,
( m_state_v_CVM(J0,X,c_idle)
| ~ node88(J0,X) ) ).
cnf(m_Crane_5,axiom,
( m_state_v_CMag(J0,X,c_off)
| ~ node88(J0,X) ) ).
cnf(m_Crane_6,axiom,
( m_state_v_pbe(J0,X)
| ~ node88(J0,X) ) ).
cnf(m_Crane_7,axiom,
( m_state_v_CVM(J0,X,c_down)
| ~ node89(J0,X) ) ).
cnf(m_Crane_8,axiom,
( m_state_v_gvp(J0,X,c_ovf)
| ~ node89(J0,X) ) ).
cnf(m_Crane_9,axiom,
( m_state_v_gof(J0,X)
| ~ node89(J0,X) ) ).
cnf(m_Crane_10,axiom,
( m_state_v_CMag(J0,Y,V)
| ~ m_state_v_CMag(J0,X,V)
| ~ node90(J0,X,Y) ) ).
cnf(m_Crane_11,axiom,
( ~ m_state_v_CMag(J0,Y,V)
| m_state_v_CMag(J0,X,V)
| ~ node90(J0,X,Y) ) ).
cnf(m_Crane_12,axiom,
( ~ m_state_v_gob(J0,X)
| ~ m_state_v_gvp(J0,X,c_ovb)
| ~ m_state_v_CHM(J0,X,c_idle)
| ~ m_state_v_CVM(J0,X,c_idle)
| ~ m_state_v_CMag(J0,X,c_off)
| ~ m_state_v_pbe(J0,X)
| m_state_v_CMag(J0,Y,c_on)
| ~ node91(J0,X,Y) ) ).
cnf(m_Crane_13,axiom,
( node88(J0,X)
| ~ m_state_v_CVM(J0,X,c_down)
| ~ m_state_v_gvp(J0,X,c_ovf)
| ~ m_state_v_gof(J0,X)
| m_state_v_CMag(J0,Y,c_off)
| ~ node91(J0,X,Y) ) ).
cnf(m_Crane_14,axiom,
( node88(J0,X)
| node89(J0,X)
| node90(J0,X,Y)
| ~ node91(J0,X,Y) ) ).
cnf(m_Crane_15,axiom,
( ~ trans(X,Y)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| node91(J0,X,Y) ) ).
cnf(m_Crane_16,axiom,
( m_state_v_CVM(J0,X,c_idle)
| ~ node92(J0,X) ) ).
cnf(m_Crane_17,axiom,
( m_state_v_gvp(J0,X,c_ovb)
| ~ node92(J0,X) ) ).
cnf(m_Crane_18,axiom,
( m_state_v_CMag(J0,X,c_on)
| ~ node92(J0,X) ) ).
cnf(m_Crane_19,axiom,
( m_state_v_CVM(J0,X,c_up)
| ~ node93(J0,X) ) ).
cnf(m_Crane_20,axiom,
( m_state_v_gvp(J0,X,c_sd)
| ~ node93(J0,X) ) ).
cnf(m_Crane_21,axiom,
( m_state_v_gof(J0,X)
| ~ node94(J0,X) ) ).
cnf(m_Crane_22,axiom,
( m_state_v_gvp(J0,X,c_sd)
| ~ node94(J0,X) ) ).
cnf(m_Crane_23,axiom,
( m_state_v_CHM(J0,X,c_idle)
| ~ node94(J0,X) ) ).
cnf(m_Crane_24,axiom,
( m_state_v_CVM(J0,X,c_idle)
| ~ node94(J0,X) ) ).
cnf(m_Crane_25,axiom,
( m_state_v_CMag(J0,X,c_on)
| ~ node94(J0,X) ) ).
cnf(m_Crane_26,axiom,
( m_state_v_ff(J0,X)
| ~ node94(J0,X) ) ).
cnf(m_Crane_27,axiom,
( m_state_v_CVM(J0,X,c_down)
| ~ node95(J0,X) ) ).
cnf(m_Crane_28,axiom,
( m_state_v_gvp(J0,X,c_ovf)
| ~ node95(J0,X) ) ).
cnf(m_Crane_29,axiom,
( m_state_v_gof(J0,X)
| ~ node95(J0,X) ) ).
cnf(m_Crane_30,axiom,
( m_state_v_CHM(J0,X,c_todepbelt)
| ~ node96(J0,X) ) ).
cnf(m_Crane_31,axiom,
( m_state_v_gob(J0,X)
| ~ node96(J0,X) ) ).
cnf(m_Crane_32,axiom,
( m_state_v_gob(J0,X)
| ~ node97(J0,X) ) ).
cnf(m_Crane_33,axiom,
( m_state_v_CVM(J0,X,c_down)
| ~ node97(J0,X) ) ).
cnf(m_Crane_34,axiom,
( m_state_v_gvp(J0,X,c_ovb)
| ~ node97(J0,X) ) ).
cnf(m_Crane_35,axiom,
( m_state_v_CVM(J0,Y,V)
| ~ m_state_v_CVM(J0,X,V)
| ~ node98(J0,X,Y) ) ).
cnf(m_Crane_36,axiom,
( ~ m_state_v_CVM(J0,Y,V)
| m_state_v_CVM(J0,X,V)
| ~ node98(J0,X,Y) ) ).
cnf(m_Crane_37,axiom,
( ~ m_state_v_CVM(J0,X,c_idle)
| ~ m_state_v_gvp(J0,X,c_ovb)
| ~ m_state_v_CMag(J0,X,c_on)
| m_state_v_CVM(J0,Y,c_up)
| ~ node99(J0,X,Y) ) ).
cnf(m_Crane_38,axiom,
( node92(J0,X)
| ~ m_state_v_CVM(J0,X,c_up)
| ~ m_state_v_gvp(J0,X,c_sd)
| m_state_v_CVM(J0,Y,c_idle)
| ~ node99(J0,X,Y) ) ).
cnf(m_Crane_39,axiom,
( node92(J0,X)
| node93(J0,X)
| ~ m_state_v_gof(J0,X)
| ~ m_state_v_gvp(J0,X,c_sd)
| ~ m_state_v_CHM(J0,X,c_idle)
| ~ m_state_v_CVM(J0,X,c_idle)
| ~ m_state_v_CMag(J0,X,c_on)
| ~ m_state_v_ff(J0,X)
| m_state_v_CVM(J0,Y,c_down)
| ~ node99(J0,X,Y) ) ).
cnf(m_Crane_40,axiom,
( node92(J0,X)
| node93(J0,X)
| node94(J0,X)
| ~ m_state_v_CVM(J0,X,c_down)
| ~ m_state_v_gvp(J0,X,c_ovf)
| ~ m_state_v_gof(J0,X)
| m_state_v_CVM(J0,Y,c_idle)
| ~ node99(J0,X,Y) ) ).
cnf(m_Crane_41,axiom,
( node92(J0,X)
| node93(J0,X)
| node94(J0,X)
| node95(J0,X)
| ~ m_state_v_CHM(J0,X,c_todepbelt)
| ~ m_state_v_gob(J0,X)
| m_state_v_CVM(J0,Y,c_down)
| ~ node99(J0,X,Y) ) ).
cnf(m_Crane_42,axiom,
( node92(J0,X)
| node93(J0,X)
| node94(J0,X)
| node95(J0,X)
| node96(J0,X)
| ~ m_state_v_gob(J0,X)
| ~ m_state_v_CVM(J0,X,c_down)
| ~ m_state_v_gvp(J0,X,c_ovb)
| m_state_v_CVM(J0,Y,c_idle)
| ~ node99(J0,X,Y) ) ).
cnf(m_Crane_43,axiom,
( node92(J0,X)
| node93(J0,X)
| node94(J0,X)
| node95(J0,X)
| node96(J0,X)
| node97(J0,X)
| node98(J0,X,Y)
| ~ node99(J0,X,Y) ) ).
cnf(m_Crane_44,axiom,
( ~ trans(X,Y)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| node99(J0,X,Y) ) ).
cnf(m_Crane_45,axiom,
( m_state_v_CVM(J0,X,c_up)
| ~ node100(J0,X) ) ).
cnf(m_Crane_46,axiom,
( m_state_v_gvp(J0,X,c_sd)
| ~ node100(J0,X) ) ).
cnf(m_Crane_47,axiom,
( m_state_v_CHM(J0,X,c_tofeedbelt)
| ~ node101(J0,X) ) ).
cnf(m_Crane_48,axiom,
( m_state_v_gof(J0,X)
| ~ node101(J0,X) ) ).
cnf(m_Crane_49,axiom,
( m_state_v_CVM(J0,X,c_idle)
| ~ node102(J0,X) ) ).
cnf(m_Crane_50,axiom,
( m_state_v_gvp(J0,X,c_ovf)
| ~ node102(J0,X) ) ).
cnf(m_Crane_51,axiom,
( m_state_v_gof(J0,X)
| ~ node102(J0,X) ) ).
cnf(m_Crane_52,axiom,
( m_state_v_CHM(J0,X,c_idle)
| ~ node102(J0,X) ) ).
cnf(m_Crane_53,axiom,
( m_state_v_CMag(J0,X,c_off)
| ~ node102(J0,X) ) ).
cnf(m_Crane_54,axiom,
( m_state_v_CHM(J0,X,c_todepbelt)
| ~ node103(J0,X) ) ).
cnf(m_Crane_55,axiom,
( m_state_v_gob(J0,X)
| ~ node103(J0,X) ) ).
cnf(m_Crane_56,axiom,
( m_state_v_CHM(J0,Y,V)
| ~ m_state_v_CHM(J0,X,V)
| ~ node104(J0,X,Y) ) ).
cnf(m_Crane_57,axiom,
( ~ m_state_v_CHM(J0,Y,V)
| m_state_v_CHM(J0,X,V)
| ~ node104(J0,X,Y) ) ).
cnf(m_Crane_58,axiom,
( ~ m_state_v_CVM(J0,X,c_up)
| ~ m_state_v_gvp(J0,X,c_sd)
| m_state_v_CHM(J0,Y,c_tofeedbelt)
| ~ node105(J0,X,Y) ) ).
cnf(m_Crane_59,axiom,
( node100(J0,X)
| ~ m_state_v_CHM(J0,X,c_tofeedbelt)
| ~ m_state_v_gof(J0,X)
| m_state_v_CHM(J0,Y,c_idle)
| ~ node105(J0,X,Y) ) ).
cnf(m_Crane_60,axiom,
( node100(J0,X)
| node101(J0,X)
| ~ m_state_v_CVM(J0,X,c_idle)
| ~ m_state_v_gvp(J0,X,c_ovf)
| ~ m_state_v_gof(J0,X)
| ~ m_state_v_CHM(J0,X,c_idle)
| ~ m_state_v_CMag(J0,X,c_off)
| m_state_v_CHM(J0,Y,c_todepbelt)
| ~ node105(J0,X,Y) ) ).
cnf(m_Crane_61,axiom,
( node100(J0,X)
| node101(J0,X)
| node102(J0,X)
| ~ m_state_v_CHM(J0,X,c_todepbelt)
| ~ m_state_v_gob(J0,X)
| m_state_v_CHM(J0,Y,c_idle)
| ~ node105(J0,X,Y) ) ).
cnf(m_Crane_62,axiom,
( node100(J0,X)
| node101(J0,X)
| node102(J0,X)
| node103(J0,X)
| node104(J0,X,Y)
| ~ node105(J0,X,Y) ) ).
cnf(m_Crane_63,axiom,
( ~ trans(X,Y)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| ~ m_Crane_v_s(I0,J0)
| node105(J0,X,Y) ) ).
cnf(m_DepositBelt_1,axiom,
( m_state_v_DBM(J0,X,c_run)
| ~ node106(J0,X) ) ).
cnf(m_DepositBelt_2,axiom,
( ~ m_state_v_crit(J0,X)
| ~ node106(J0,X) ) ).
cnf(m_DepositBelt_3,axiom,
( m_state_v_pbl(J0,X)
| ~ node106(J0,X) ) ).
cnf(m_DepositBelt_4,axiom,
( m_state_v_DBM(J0,X,c_run)
| ~ node107(J0,X) ) ).
cnf(m_DepositBelt_5,axiom,
( m_state_v_crit(J0,X)
| ~ node107(J0,X) ) ).
cnf(m_DepositBelt_6,axiom,
( ~ m_state_v_pbl(J0,X)
| ~ node107(J0,X) ) ).
cnf(m_DepositBelt_7,axiom,
( m_state_v_crit(J0,Y)
| ~ m_state_v_crit(J0,X)
| ~ node108(J0,X,Y) ) ).
cnf(m_DepositBelt_8,axiom,
( ~ m_state_v_crit(J0,Y)
| m_state_v_crit(J0,X)
| ~ node108(J0,X,Y) ) ).
cnf(m_DepositBelt_9,axiom,
( ~ m_state_v_DBM(J0,X,c_run)
| m_state_v_crit(J0,X)
| ~ m_state_v_pbl(J0,X)
| m_state_v_crit(J0,Y)
| ~ node109(J0,X,Y) ) ).
cnf(m_DepositBelt_10,axiom,
( node106(J0,X)
| ~ m_state_v_DBM(J0,X,c_run)
| ~ m_state_v_crit(J0,X)
| m_state_v_pbl(J0,X)
| ~ m_state_v_crit(J0,Y)
| ~ node109(J0,X,Y) ) ).
cnf(m_DepositBelt_11,axiom,
( node106(J0,X)
| node107(J0,X)
| node108(J0,X,Y)
| ~ node109(J0,X,Y) ) ).
cnf(m_DepositBelt_12,axiom,
( ~ trans(X,Y)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| node109(J0,X,Y) ) ).
cnf(m_DepositBelt_13,axiom,
( m_state_v_DBM(J0,X,c_run)
| ~ node110(J0,X) ) ).
cnf(m_DepositBelt_14,axiom,
( m_state_v_crit(J0,X)
| ~ node110(J0,X) ) ).
cnf(m_DepositBelt_15,axiom,
( ~ m_state_v_pbl(J0,X)
| ~ node110(J0,X) ) ).
cnf(m_DepositBelt_16,axiom,
( m_state_v_DBM(J0,X,c_idle)
| ~ node111(J0,X) ) ).
cnf(m_DepositBelt_17,axiom,
( ~ m_state_v_pbe(J0,X)
| ~ node111(J0,X) ) ).
cnf(m_DepositBelt_18,axiom,
( m_state_v_DBM(J0,Y,V)
| ~ m_state_v_DBM(J0,X,V)
| ~ node112(J0,X,Y) ) ).
cnf(m_DepositBelt_19,axiom,
( ~ m_state_v_DBM(J0,Y,V)
| m_state_v_DBM(J0,X,V)
| ~ node112(J0,X,Y) ) ).
cnf(m_DepositBelt_20,axiom,
( ~ m_state_v_DBM(J0,X,c_run)
| ~ m_state_v_crit(J0,X)
| m_state_v_pbl(J0,X)
| m_state_v_DBM(J0,Y,c_idle)
| ~ node113(J0,X,Y) ) ).
cnf(m_DepositBelt_21,axiom,
( node110(J0,X)
| ~ m_state_v_DBM(J0,X,c_idle)
| m_state_v_pbe(J0,X)
| m_state_v_DBM(J0,Y,c_run)
| ~ node113(J0,X,Y) ) ).
cnf(m_DepositBelt_22,axiom,
( node110(J0,X)
| node111(J0,X)
| node112(J0,X,Y)
| ~ node113(J0,X,Y) ) ).
cnf(m_DepositBelt_23,axiom,
( ~ trans(X,Y)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| ~ m_DepositBelt_v_s(I0,J0)
| node113(J0,X,Y) ) ).
cnf(m_Press_1,axiom,
( m_state_v_botPosP(J0,X)
| ~ node114(J0,X) ) ).
cnf(m_Press_2,axiom,
( m_state_v_PM(J0,X,c_idle)
| ~ node114(J0,X) ) ).
cnf(m_Press_3,axiom,
( ~ m_state_v_pl(J0,X)
| ~ node114(J0,X) ) ).
cnf(m_Press_4,axiom,
( ~ m_state_v_pl(J0,X)
| ~ node115(J0,X) ) ).
cnf(m_Press_5,axiom,
( m_state_v_PM(J0,X,c_up)
| ~ node115(J0,X) ) ).
cnf(m_Press_6,axiom,
( m_state_v_midPosP(J0,X)
| ~ node115(J0,X) ) ).
cnf(m_Press_7,axiom,
( m_state_v_midPosP(J0,X)
| ~ node116(J0,X) ) ).
cnf(m_Press_8,axiom,
( m_state_v_PM(J0,X,c_idle)
| ~ node116(J0,X) ) ).
cnf(m_Press_9,axiom,
( m_state_v_pl(J0,X)
| ~ node116(J0,X) ) ).
cnf(m_Press_10,axiom,
( m_state_v_pl(J0,X)
| ~ node117(J0,X) ) ).
cnf(m_Press_11,axiom,
( m_state_v_PM(J0,X,c_up)
| ~ node117(J0,X) ) ).
cnf(m_Press_12,axiom,
( m_state_v_topPosP(J0,X)
| ~ node117(J0,X) ) ).
cnf(m_Press_13,axiom,
( m_state_v_topPosP(J0,X)
| ~ node118(J0,X) ) ).
cnf(m_Press_14,axiom,
( m_state_v_PM(J0,X,c_idle)
| ~ node118(J0,X) ) ).
cnf(m_Press_15,axiom,
( m_state_v_fc(J0,X)
| ~ node118(J0,X) ) ).
cnf(m_Press_16,axiom,
( m_state_v_PM(J0,X,c_down)
| ~ node119(J0,X) ) ).
cnf(m_Press_17,axiom,
( m_state_v_botPosP(J0,X)
| ~ node119(J0,X) ) ).
cnf(m_Press_18,axiom,
( m_state_v_PM(J0,Y,V)
| ~ m_state_v_PM(J0,X,V)
| ~ node120(J0,X,Y) ) ).
cnf(m_Press_19,axiom,
( ~ m_state_v_PM(J0,Y,V)
| m_state_v_PM(J0,X,V)
| ~ node120(J0,X,Y) ) ).
cnf(m_Press_20,axiom,
( ~ m_state_v_botPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_idle)
| m_state_v_pl(J0,X)
| m_state_v_PM(J0,Y,c_up)
| ~ node121(J0,X,Y) ) ).
cnf(m_Press_21,axiom,
( node114(J0,X)
| m_state_v_pl(J0,X)
| ~ m_state_v_PM(J0,X,c_up)
| ~ m_state_v_midPosP(J0,X)
| m_state_v_PM(J0,Y,c_idle)
| ~ node121(J0,X,Y) ) ).
cnf(m_Press_22,axiom,
( node114(J0,X)
| node115(J0,X)
| ~ m_state_v_midPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_idle)
| ~ m_state_v_pl(J0,X)
| m_state_v_PM(J0,Y,c_up)
| ~ node121(J0,X,Y) ) ).
cnf(m_Press_23,axiom,
( node114(J0,X)
| node115(J0,X)
| node116(J0,X)
| ~ m_state_v_pl(J0,X)
| ~ m_state_v_PM(J0,X,c_up)
| ~ m_state_v_topPosP(J0,X)
| m_state_v_PM(J0,Y,c_idle)
| ~ node121(J0,X,Y) ) ).
cnf(m_Press_24,axiom,
( node114(J0,X)
| node115(J0,X)
| node116(J0,X)
| node117(J0,X)
| ~ m_state_v_topPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_idle)
| ~ m_state_v_fc(J0,X)
| m_state_v_PM(J0,Y,c_down)
| ~ node121(J0,X,Y) ) ).
cnf(m_Press_25,axiom,
( node114(J0,X)
| node115(J0,X)
| node116(J0,X)
| node117(J0,X)
| node118(J0,X)
| ~ m_state_v_PM(J0,X,c_down)
| ~ m_state_v_botPosP(J0,X)
| m_state_v_PM(J0,Y,c_idle)
| ~ node121(J0,X,Y) ) ).
cnf(m_Press_26,axiom,
( node114(J0,X)
| node115(J0,X)
| node116(J0,X)
| node117(J0,X)
| node118(J0,X)
| node119(J0,X)
| node120(J0,X,Y)
| ~ node121(J0,X,Y) ) ).
cnf(m_Press_27,axiom,
( ~ trans(X,Y)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| ~ m_Press_v_s(I0,J0)
| node121(J0,X,Y) ) ).
cnf(m_Robot_1,axiom,
( m_state_v_angle(J0,X,c_arm1totable)
| ~ node122(J0,X) ) ).
cnf(m_Robot_2,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node122(J0,X) ) ).
cnf(m_Robot_3,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node122(J0,X) ) ).
cnf(m_Robot_4,axiom,
( m_state_v_RRM(J0,X,c_idle)
| ~ node122(J0,X) ) ).
cnf(m_Robot_5,axiom,
( m_state_v_A1M(J0,X,c_idle)
| ~ node122(J0,X) ) ).
cnf(m_Robot_6,axiom,
( m_state_v_A2M(J0,X,c_idle)
| ~ node122(J0,X) ) ).
cnf(m_Robot_7,axiom,
( m_state_v_A1Mag(J0,X,c_off)
| ~ node122(J0,X) ) ).
cnf(m_Robot_8,axiom,
( m_state_v_A2Mag(J0,X,c_off)
| ~ node122(J0,X) ) ).
cnf(m_Robot_9,axiom,
( m_state_v_topPos(J0,X)
| ~ node122(J0,X) ) ).
cnf(m_Robot_10,axiom,
( m_state_v_maxRot(J0,X)
| ~ node122(J0,X) ) ).
cnf(m_Robot_11,axiom,
( m_state_v_tl(J0,X)
| ~ node122(J0,X) ) ).
cnf(m_Robot_12,axiom,
( m_state_v_angle(J0,X,c_arm1topress)
| ~ node123(J0,X) ) ).
cnf(m_Robot_13,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node123(J0,X) ) ).
cnf(m_Robot_14,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node123(J0,X) ) ).
cnf(m_Robot_15,axiom,
( m_state_v_RRM(J0,X,c_idle)
| ~ node123(J0,X) ) ).
cnf(m_Robot_16,axiom,
( m_state_v_A1M(J0,X,c_idle)
| ~ node123(J0,X) ) ).
cnf(m_Robot_17,axiom,
( m_state_v_A2M(J0,X,c_idle)
| ~ node123(J0,X) ) ).
cnf(m_Robot_18,axiom,
( m_state_v_A1Mag(J0,X,c_on)
| ~ node123(J0,X) ) ).
cnf(m_Robot_19,axiom,
( m_state_v_A2Mag(J0,X,c_off)
| ~ node123(J0,X) ) ).
cnf(m_Robot_20,axiom,
( m_state_v_midPosP(J0,X)
| ~ node123(J0,X) ) ).
cnf(m_Robot_21,axiom,
( m_state_v_PM(J0,X,c_idle)
| ~ node123(J0,X) ) ).
cnf(m_Robot_22,axiom,
( ~ m_state_v_pl(J0,X)
| ~ node123(J0,X) ) ).
cnf(m_Robot_23,axiom,
( m_state_v_angle(J0,X,c_arm1totable)
| ~ node124(J0,X) ) ).
cnf(m_Robot_24,axiom,
( m_state_v_A1M(J0,X,c_extend)
| ~ node124(J0,X) ) ).
cnf(m_Robot_25,axiom,
( m_state_v_a1ext(J0,X,c_ot)
| ~ node124(J0,X) ) ).
cnf(m_Robot_26,axiom,
( m_state_v_angle(J0,X,c_arm1topress)
| ~ node125(J0,X) ) ).
cnf(m_Robot_27,axiom,
( m_state_v_A1M(J0,X,c_extend)
| ~ node125(J0,X) ) ).
cnf(m_Robot_28,axiom,
( m_state_v_a1ext(J0,X,c_a1ip)
| ~ node125(J0,X) ) ).
cnf(m_Robot_29,axiom,
( m_state_v_angle(J0,X,c_arm1totable)
| ~ node126(J0,X) ) ).
cnf(m_Robot_30,axiom,
( m_state_v_a1ext(J0,X,c_ot)
| ~ node126(J0,X) ) ).
cnf(m_Robot_31,axiom,
( m_state_v_A1M(J0,X,c_idle)
| ~ node126(J0,X) ) ).
cnf(m_Robot_32,axiom,
( m_state_v_A1Mag(J0,X,c_on)
| ~ node126(J0,X) ) ).
cnf(m_Robot_33,axiom,
( m_state_v_angle(J0,X,c_arm1topress)
| ~ node127(J0,X) ) ).
cnf(m_Robot_34,axiom,
( m_state_v_a1ext(J0,X,c_a1ip)
| ~ node127(J0,X) ) ).
cnf(m_Robot_35,axiom,
( m_state_v_A1M(J0,X,c_idle)
| ~ node127(J0,X) ) ).
cnf(m_Robot_36,axiom,
( m_state_v_A1Mag(J0,X,c_off)
| ~ node127(J0,X) ) ).
cnf(m_Robot_37,axiom,
( m_state_v_angle(J0,X,c_arm1totable)
| ~ node128(J0,X) ) ).
cnf(m_Robot_38,axiom,
( m_state_v_A1M(J0,X,c_retract)
| ~ node128(J0,X) ) ).
cnf(m_Robot_39,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node128(J0,X) ) ).
cnf(m_Robot_40,axiom,
( m_state_v_angle(J0,X,c_arm1topress)
| ~ node129(J0,X) ) ).
cnf(m_Robot_41,axiom,
( m_state_v_A1M(J0,X,c_retract)
| ~ node129(J0,X) ) ).
cnf(m_Robot_42,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node129(J0,X) ) ).
cnf(m_Robot_43,axiom,
( m_state_v_A1M(J0,Y,V)
| ~ m_state_v_A1M(J0,X,V)
| ~ node130(J0,X,Y) ) ).
cnf(m_Robot_44,axiom,
( ~ m_state_v_A1M(J0,Y,V)
| m_state_v_A1M(J0,X,V)
| ~ node130(J0,X,Y) ) ).
cnf(m_Robot_45,axiom,
( ~ m_state_v_angle(J0,X,c_arm1totable)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| ~ m_state_v_RRM(J0,X,c_idle)
| ~ m_state_v_A1M(J0,X,c_idle)
| ~ m_state_v_A2M(J0,X,c_idle)
| ~ m_state_v_A1Mag(J0,X,c_off)
| ~ m_state_v_A2Mag(J0,X,c_off)
| ~ m_state_v_topPos(J0,X)
| ~ m_state_v_maxRot(J0,X)
| ~ m_state_v_tl(J0,X)
| m_state_v_A1M(J0,Y,c_extend)
| ~ node131(J0,X,Y) ) ).
cnf(m_Robot_46,axiom,
( node122(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1topress)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| ~ m_state_v_RRM(J0,X,c_idle)
| ~ m_state_v_A1M(J0,X,c_idle)
| ~ m_state_v_A2M(J0,X,c_idle)
| ~ m_state_v_A1Mag(J0,X,c_on)
| ~ m_state_v_A2Mag(J0,X,c_off)
| ~ m_state_v_midPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_idle)
| m_state_v_pl(J0,X)
| m_state_v_A1M(J0,Y,c_extend)
| ~ node131(J0,X,Y) ) ).
cnf(m_Robot_47,axiom,
( node122(J0,X)
| node123(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1totable)
| ~ m_state_v_A1M(J0,X,c_extend)
| ~ m_state_v_a1ext(J0,X,c_ot)
| m_state_v_A1M(J0,Y,c_idle)
| ~ node131(J0,X,Y) ) ).
cnf(m_Robot_48,axiom,
( node122(J0,X)
| node123(J0,X)
| node124(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1topress)
| ~ m_state_v_A1M(J0,X,c_extend)
| ~ m_state_v_a1ext(J0,X,c_a1ip)
| m_state_v_A1M(J0,Y,c_idle)
| ~ node131(J0,X,Y) ) ).
cnf(m_Robot_49,axiom,
( node122(J0,X)
| node123(J0,X)
| node124(J0,X)
| node125(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1totable)
| ~ m_state_v_a1ext(J0,X,c_ot)
| ~ m_state_v_A1M(J0,X,c_idle)
| ~ m_state_v_A1Mag(J0,X,c_on)
| m_state_v_A1M(J0,Y,c_retract)
| ~ node131(J0,X,Y) ) ).
cnf(m_Robot_50,axiom,
( node122(J0,X)
| node123(J0,X)
| node124(J0,X)
| node125(J0,X)
| node126(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1topress)
| ~ m_state_v_a1ext(J0,X,c_a1ip)
| ~ m_state_v_A1M(J0,X,c_idle)
| ~ m_state_v_A1Mag(J0,X,c_off)
| m_state_v_A1M(J0,Y,c_retract)
| ~ node131(J0,X,Y) ) ).
cnf(m_Robot_51,axiom,
( node122(J0,X)
| node123(J0,X)
| node124(J0,X)
| node125(J0,X)
| node126(J0,X)
| node127(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1totable)
| ~ m_state_v_A1M(J0,X,c_retract)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| m_state_v_A1M(J0,Y,c_idle)
| ~ node131(J0,X,Y) ) ).
cnf(m_Robot_52,axiom,
( node122(J0,X)
| node123(J0,X)
| node124(J0,X)
| node125(J0,X)
| node126(J0,X)
| node127(J0,X)
| node128(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1topress)
| ~ m_state_v_A1M(J0,X,c_retract)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| m_state_v_A1M(J0,Y,c_idle)
| ~ node131(J0,X,Y) ) ).
cnf(m_Robot_53,axiom,
( node122(J0,X)
| node123(J0,X)
| node124(J0,X)
| node125(J0,X)
| node126(J0,X)
| node127(J0,X)
| node128(J0,X)
| node129(J0,X)
| node130(J0,X,Y)
| ~ node131(J0,X,Y) ) ).
cnf(m_Robot_54,axiom,
( ~ trans(X,Y)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| node131(J0,X,Y) ) ).
cnf(m_Robot_55,axiom,
( m_state_v_angle(J0,X,c_arm2topress)
| ~ node132(J0,X) ) ).
cnf(m_Robot_56,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node132(J0,X) ) ).
cnf(m_Robot_57,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node132(J0,X) ) ).
cnf(m_Robot_58,axiom,
( m_state_v_RRM(J0,X,c_idle)
| ~ node132(J0,X) ) ).
cnf(m_Robot_59,axiom,
( m_state_v_A1M(J0,X,c_idle)
| ~ node132(J0,X) ) ).
cnf(m_Robot_60,axiom,
( m_state_v_A2M(J0,X,c_idle)
| ~ node132(J0,X) ) ).
cnf(m_Robot_61,axiom,
( m_state_v_A1Mag(J0,X,c_on)
| ~ node132(J0,X) ) ).
cnf(m_Robot_62,axiom,
( m_state_v_A2Mag(J0,X,c_off)
| ~ node132(J0,X) ) ).
cnf(m_Robot_63,axiom,
( m_state_v_botPosP(J0,X)
| ~ node132(J0,X) ) ).
cnf(m_Robot_64,axiom,
( m_state_v_PM(J0,X,c_idle)
| ~ node132(J0,X) ) ).
cnf(m_Robot_65,axiom,
( m_state_v_pl(J0,X)
| ~ node132(J0,X) ) ).
cnf(m_Robot_66,axiom,
( m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ node133(J0,X) ) ).
cnf(m_Robot_67,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node133(J0,X) ) ).
cnf(m_Robot_68,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node133(J0,X) ) ).
cnf(m_Robot_69,axiom,
( m_state_v_RRM(J0,X,c_idle)
| ~ node133(J0,X) ) ).
cnf(m_Robot_70,axiom,
( m_state_v_A1M(J0,X,c_idle)
| ~ node133(J0,X) ) ).
cnf(m_Robot_71,axiom,
( m_state_v_A2M(J0,X,c_idle)
| ~ node133(J0,X) ) ).
cnf(m_Robot_72,axiom,
( m_state_v_A1Mag(J0,X,c_on)
| ~ node133(J0,X) ) ).
cnf(m_Robot_73,axiom,
( m_state_v_A2Mag(J0,X,c_on)
| ~ node133(J0,X) ) ).
cnf(m_Robot_74,axiom,
( m_state_v_brl(J0,X)
| ~ node133(J0,X) ) ).
cnf(m_Robot_75,axiom,
( m_state_v_angle(J0,X,c_arm2topress)
| ~ node134(J0,X) ) ).
cnf(m_Robot_76,axiom,
( m_state_v_A2M(J0,X,c_extend)
| ~ node134(J0,X) ) ).
cnf(m_Robot_77,axiom,
( m_state_v_a2ext(J0,X,c_a2ip)
| ~ node134(J0,X) ) ).
cnf(m_Robot_78,axiom,
( m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ node135(J0,X) ) ).
cnf(m_Robot_79,axiom,
( m_state_v_A2M(J0,X,c_extend)
| ~ node135(J0,X) ) ).
cnf(m_Robot_80,axiom,
( m_state_v_a2ext(J0,X,c_ob)
| ~ node135(J0,X) ) ).
cnf(m_Robot_81,axiom,
( m_state_v_angle(J0,X,c_arm2topress)
| ~ node136(J0,X) ) ).
cnf(m_Robot_82,axiom,
( m_state_v_a2ext(J0,X,c_a2ip)
| ~ node136(J0,X) ) ).
cnf(m_Robot_83,axiom,
( m_state_v_A2M(J0,X,c_idle)
| ~ node136(J0,X) ) ).
cnf(m_Robot_84,axiom,
( m_state_v_A2Mag(J0,X,c_on)
| ~ node136(J0,X) ) ).
cnf(m_Robot_85,axiom,
( m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ node137(J0,X) ) ).
cnf(m_Robot_86,axiom,
( m_state_v_a2ext(J0,X,c_ob)
| ~ node137(J0,X) ) ).
cnf(m_Robot_87,axiom,
( m_state_v_A2M(J0,X,c_idle)
| ~ node137(J0,X) ) ).
cnf(m_Robot_88,axiom,
( m_state_v_A2Mag(J0,X,c_off)
| ~ node137(J0,X) ) ).
cnf(m_Robot_89,axiom,
( m_state_v_angle(J0,X,c_arm2topress)
| ~ node138(J0,X) ) ).
cnf(m_Robot_90,axiom,
( m_state_v_A2M(J0,X,c_retract)
| ~ node138(J0,X) ) ).
cnf(m_Robot_91,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node138(J0,X) ) ).
cnf(m_Robot_92,axiom,
( m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ node139(J0,X) ) ).
cnf(m_Robot_93,axiom,
( m_state_v_A2M(J0,X,c_retract)
| ~ node139(J0,X) ) ).
cnf(m_Robot_94,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node139(J0,X) ) ).
cnf(m_Robot_95,axiom,
( m_state_v_A2M(J0,Y,V)
| ~ m_state_v_A2M(J0,X,V)
| ~ node140(J0,X,Y) ) ).
cnf(m_Robot_96,axiom,
( ~ m_state_v_A2M(J0,Y,V)
| m_state_v_A2M(J0,X,V)
| ~ node140(J0,X,Y) ) ).
cnf(m_Robot_97,axiom,
( ~ m_state_v_angle(J0,X,c_arm2topress)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| ~ m_state_v_RRM(J0,X,c_idle)
| ~ m_state_v_A1M(J0,X,c_idle)
| ~ m_state_v_A2M(J0,X,c_idle)
| ~ m_state_v_A1Mag(J0,X,c_on)
| ~ m_state_v_A2Mag(J0,X,c_off)
| ~ m_state_v_botPosP(J0,X)
| ~ m_state_v_PM(J0,X,c_idle)
| ~ m_state_v_pl(J0,X)
| m_state_v_A2M(J0,Y,c_extend)
| ~ node141(J0,X,Y) ) ).
cnf(m_Robot_98,axiom,
( node132(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| ~ m_state_v_RRM(J0,X,c_idle)
| ~ m_state_v_A1M(J0,X,c_idle)
| ~ m_state_v_A2M(J0,X,c_idle)
| ~ m_state_v_A1Mag(J0,X,c_on)
| ~ m_state_v_A2Mag(J0,X,c_on)
| ~ m_state_v_brl(J0,X)
| m_state_v_A2M(J0,Y,c_extend)
| ~ node141(J0,X,Y) ) ).
cnf(m_Robot_99,axiom,
( node132(J0,X)
| node133(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2topress)
| ~ m_state_v_A2M(J0,X,c_extend)
| ~ m_state_v_a2ext(J0,X,c_a2ip)
| m_state_v_A2M(J0,Y,c_idle)
| ~ node141(J0,X,Y) ) ).
cnf(m_Robot_100,axiom,
( node132(J0,X)
| node133(J0,X)
| node134(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ m_state_v_A2M(J0,X,c_extend)
| ~ m_state_v_a2ext(J0,X,c_ob)
| m_state_v_A2M(J0,Y,c_idle)
| ~ node141(J0,X,Y) ) ).
cnf(m_Robot_101,axiom,
( node132(J0,X)
| node133(J0,X)
| node134(J0,X)
| node135(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2topress)
| ~ m_state_v_a2ext(J0,X,c_a2ip)
| ~ m_state_v_A2M(J0,X,c_idle)
| ~ m_state_v_A2Mag(J0,X,c_on)
| m_state_v_A2M(J0,Y,c_retract)
| ~ node141(J0,X,Y) ) ).
cnf(m_Robot_102,axiom,
( node132(J0,X)
| node133(J0,X)
| node134(J0,X)
| node135(J0,X)
| node136(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ m_state_v_a2ext(J0,X,c_ob)
| ~ m_state_v_A2M(J0,X,c_idle)
| ~ m_state_v_A2Mag(J0,X,c_off)
| m_state_v_A2M(J0,Y,c_retract)
| ~ node141(J0,X,Y) ) ).
cnf(m_Robot_103,axiom,
( node132(J0,X)
| node133(J0,X)
| node134(J0,X)
| node135(J0,X)
| node136(J0,X)
| node137(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2topress)
| ~ m_state_v_A2M(J0,X,c_retract)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| m_state_v_A2M(J0,Y,c_idle)
| ~ node141(J0,X,Y) ) ).
cnf(m_Robot_104,axiom,
( node132(J0,X)
| node133(J0,X)
| node134(J0,X)
| node135(J0,X)
| node136(J0,X)
| node137(J0,X)
| node138(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ m_state_v_A2M(J0,X,c_retract)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| m_state_v_A2M(J0,Y,c_idle)
| ~ node141(J0,X,Y) ) ).
cnf(m_Robot_105,axiom,
( node132(J0,X)
| node133(J0,X)
| node134(J0,X)
| node135(J0,X)
| node136(J0,X)
| node137(J0,X)
| node138(J0,X)
| node139(J0,X)
| node140(J0,X,Y)
| ~ node141(J0,X,Y) ) ).
cnf(m_Robot_106,axiom,
( ~ trans(X,Y)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| node141(J0,X,Y) ) ).
cnf(m_Robot_107,axiom,
( m_state_v_angle(J0,X,c_arm1totable)
| ~ node142(J0,X) ) ).
cnf(m_Robot_108,axiom,
( m_state_v_A1M(J0,X,c_extend)
| ~ node142(J0,X) ) ).
cnf(m_Robot_109,axiom,
( m_state_v_a1ext(J0,X,c_ot)
| ~ node142(J0,X) ) ).
cnf(m_Robot_110,axiom,
( m_state_v_angle(J0,X,c_arm1topress)
| ~ node143(J0,X) ) ).
cnf(m_Robot_111,axiom,
( m_state_v_A1M(J0,X,c_extend)
| ~ node143(J0,X) ) ).
cnf(m_Robot_112,axiom,
( m_state_v_a1ext(J0,X,c_a1ip)
| ~ node143(J0,X) ) ).
cnf(m_Robot_113,axiom,
( m_state_v_A1Mag(J0,Y,V)
| ~ m_state_v_A1Mag(J0,X,V)
| ~ node144(J0,X,Y) ) ).
cnf(m_Robot_114,axiom,
( ~ m_state_v_A1Mag(J0,Y,V)
| m_state_v_A1Mag(J0,X,V)
| ~ node144(J0,X,Y) ) ).
cnf(m_Robot_115,axiom,
( ~ m_state_v_angle(J0,X,c_arm1totable)
| ~ m_state_v_A1M(J0,X,c_extend)
| ~ m_state_v_a1ext(J0,X,c_ot)
| m_state_v_A1Mag(J0,Y,c_on)
| ~ node145(J0,X,Y) ) ).
cnf(m_Robot_116,axiom,
( node142(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1topress)
| ~ m_state_v_A1M(J0,X,c_extend)
| ~ m_state_v_a1ext(J0,X,c_a1ip)
| m_state_v_A1Mag(J0,Y,c_off)
| ~ node145(J0,X,Y) ) ).
cnf(m_Robot_117,axiom,
( node142(J0,X)
| node143(J0,X)
| node144(J0,X,Y)
| ~ node145(J0,X,Y) ) ).
cnf(m_Robot_118,axiom,
( ~ trans(X,Y)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| node145(J0,X,Y) ) ).
cnf(m_Robot_119,axiom,
( m_state_v_angle(J0,X,c_arm2topress)
| ~ node146(J0,X) ) ).
cnf(m_Robot_120,axiom,
( m_state_v_A2M(J0,X,c_extend)
| ~ node146(J0,X) ) ).
cnf(m_Robot_121,axiom,
( m_state_v_a2ext(J0,X,c_a2ip)
| ~ node146(J0,X) ) ).
cnf(m_Robot_122,axiom,
( m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ node147(J0,X) ) ).
cnf(m_Robot_123,axiom,
( m_state_v_A2M(J0,X,c_extend)
| ~ node147(J0,X) ) ).
cnf(m_Robot_124,axiom,
( m_state_v_a2ext(J0,X,c_ob)
| ~ node147(J0,X) ) ).
cnf(m_Robot_125,axiom,
( m_state_v_A2Mag(J0,Y,V)
| ~ m_state_v_A2Mag(J0,X,V)
| ~ node148(J0,X,Y) ) ).
cnf(m_Robot_126,axiom,
( ~ m_state_v_A2Mag(J0,Y,V)
| m_state_v_A2Mag(J0,X,V)
| ~ node148(J0,X,Y) ) ).
cnf(m_Robot_127,axiom,
( ~ m_state_v_angle(J0,X,c_arm2topress)
| ~ m_state_v_A2M(J0,X,c_extend)
| ~ m_state_v_a2ext(J0,X,c_a2ip)
| m_state_v_A2Mag(J0,Y,c_on)
| ~ node149(J0,X,Y) ) ).
cnf(m_Robot_128,axiom,
( node146(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ m_state_v_A2M(J0,X,c_extend)
| ~ m_state_v_a2ext(J0,X,c_ob)
| m_state_v_A2Mag(J0,Y,c_off)
| ~ node149(J0,X,Y) ) ).
cnf(m_Robot_129,axiom,
( node146(J0,X)
| node147(J0,X)
| node148(J0,X,Y)
| ~ node149(J0,X,Y) ) ).
cnf(m_Robot_130,axiom,
( ~ trans(X,Y)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| node149(J0,X,Y) ) ).
cnf(m_Robot_131,axiom,
( m_state_v_angle(J0,X,c_arm1totable)
| ~ node150(J0,X) ) ).
cnf(m_Robot_132,axiom,
( m_state_v_A1M(J0,X,c_retract)
| ~ node150(J0,X) ) ).
cnf(m_Robot_133,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node150(J0,X) ) ).
cnf(m_Robot_134,axiom,
( m_state_v_angle(J0,X,c_arm2topress)
| ~ node151(J0,X) ) ).
cnf(m_Robot_135,axiom,
( m_state_v_A2M(J0,X,c_retract)
| ~ node151(J0,X) ) ).
cnf(m_Robot_136,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node151(J0,X) ) ).
cnf(m_Robot_137,axiom,
( m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ node152(J0,X) ) ).
cnf(m_Robot_138,axiom,
( m_state_v_A2M(J0,X,c_retract)
| ~ node152(J0,X) ) ).
cnf(m_Robot_139,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node152(J0,X) ) ).
cnf(m_Robot_140,axiom,
( m_state_v_angle(J0,X,c_arm1topress)
| ~ node153(J0,X) ) ).
cnf(m_Robot_141,axiom,
( m_state_v_A1M(J0,X,c_retract)
| ~ node153(J0,X) ) ).
cnf(m_Robot_142,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node153(J0,X) ) ).
cnf(m_Robot_143,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node154(J0,X) ) ).
cnf(m_Robot_144,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node154(J0,X) ) ).
cnf(m_Robot_145,axiom,
( m_state_v_A1M(J0,X,c_idle)
| ~ node154(J0,X) ) ).
cnf(m_Robot_146,axiom,
( m_state_v_A2M(J0,X,c_idle)
| ~ node154(J0,X) ) ).
cnf(m_Robot_147,axiom,
( m_state_v_RRM(J0,X,c_counterclock)
| ~ node154(J0,X) ) ).
cnf(m_Robot_148,axiom,
( m_state_v_A1Mag(J0,X,c_on)
| ~ node154(J0,X) ) ).
cnf(m_Robot_149,axiom,
( m_state_v_A2Mag(J0,X,c_off)
| ~ node154(J0,X) ) ).
cnf(m_Robot_150,axiom,
( m_state_v_angle(J0,X,c_arm2topress)
| ~ node154(J0,X) ) ).
cnf(m_Robot_151,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node155(J0,X) ) ).
cnf(m_Robot_152,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node155(J0,X) ) ).
cnf(m_Robot_153,axiom,
( m_state_v_A1M(J0,X,c_idle)
| ~ node155(J0,X) ) ).
cnf(m_Robot_154,axiom,
( m_state_v_A2M(J0,X,c_idle)
| ~ node155(J0,X) ) ).
cnf(m_Robot_155,axiom,
( m_state_v_RRM(J0,X,c_counterclock)
| ~ node155(J0,X) ) ).
cnf(m_Robot_156,axiom,
( m_state_v_A1Mag(J0,X,c_on)
| ~ node155(J0,X) ) ).
cnf(m_Robot_157,axiom,
( m_state_v_A2Mag(J0,X,c_on)
| ~ node155(J0,X) ) ).
cnf(m_Robot_158,axiom,
( m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ node155(J0,X) ) ).
cnf(m_Robot_159,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node156(J0,X) ) ).
cnf(m_Robot_160,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node156(J0,X) ) ).
cnf(m_Robot_161,axiom,
( m_state_v_A1M(J0,X,c_idle)
| ~ node156(J0,X) ) ).
cnf(m_Robot_162,axiom,
( m_state_v_A2M(J0,X,c_idle)
| ~ node156(J0,X) ) ).
cnf(m_Robot_163,axiom,
( m_state_v_RRM(J0,X,c_counterclock)
| ~ node156(J0,X) ) ).
cnf(m_Robot_164,axiom,
( m_state_v_A1Mag(J0,X,c_on)
| ~ node156(J0,X) ) ).
cnf(m_Robot_165,axiom,
( m_state_v_A2Mag(J0,X,c_off)
| ~ node156(J0,X) ) ).
cnf(m_Robot_166,axiom,
( m_state_v_angle(J0,X,c_arm1topress)
| ~ node156(J0,X) ) ).
cnf(m_Robot_167,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node157(J0,X) ) ).
cnf(m_Robot_168,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node157(J0,X) ) ).
cnf(m_Robot_169,axiom,
( m_state_v_A1M(J0,X,c_idle)
| ~ node157(J0,X) ) ).
cnf(m_Robot_170,axiom,
( m_state_v_A2M(J0,X,c_idle)
| ~ node157(J0,X) ) ).
cnf(m_Robot_171,axiom,
( m_state_v_RRM(J0,X,c_clockwise)
| ~ node157(J0,X) ) ).
cnf(m_Robot_172,axiom,
( m_state_v_A1Mag(J0,X,c_off)
| ~ node157(J0,X) ) ).
cnf(m_Robot_173,axiom,
( m_state_v_A2Mag(J0,X,c_off)
| ~ node157(J0,X) ) ).
cnf(m_Robot_174,axiom,
( m_state_v_angle(J0,X,c_arm1totable)
| ~ node157(J0,X) ) ).
cnf(m_Robot_175,axiom,
( m_state_v_RRM(J0,Y,V)
| ~ m_state_v_RRM(J0,X,V)
| ~ node158(J0,X,Y) ) ).
cnf(m_Robot_176,axiom,
( ~ m_state_v_RRM(J0,Y,V)
| m_state_v_RRM(J0,X,V)
| ~ node158(J0,X,Y) ) ).
cnf(m_Robot_177,axiom,
( ~ m_state_v_angle(J0,X,c_arm1totable)
| ~ m_state_v_A1M(J0,X,c_retract)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| m_state_v_RRM(J0,Y,c_counterclock)
| ~ node159(J0,X,Y) ) ).
cnf(m_Robot_178,axiom,
( node150(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2topress)
| ~ m_state_v_A2M(J0,X,c_retract)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| m_state_v_RRM(J0,Y,c_counterclock)
| ~ node159(J0,X,Y) ) ).
cnf(m_Robot_179,axiom,
( node150(J0,X)
| node151(J0,X)
| ~ m_state_v_angle(J0,X,c_arm2todepbelt)
| ~ m_state_v_A2M(J0,X,c_retract)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| m_state_v_RRM(J0,Y,c_counterclock)
| ~ node159(J0,X,Y) ) ).
cnf(m_Robot_180,axiom,
( node150(J0,X)
| node151(J0,X)
| node152(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1topress)
| ~ m_state_v_A1M(J0,X,c_retract)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| m_state_v_RRM(J0,Y,c_clockwise)
| ~ node159(J0,X,Y) ) ).
cnf(m_Robot_181,axiom,
( node150(J0,X)
| node151(J0,X)
| node152(J0,X)
| node153(J0,X)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| ~ m_state_v_A1M(J0,X,c_idle)
| ~ m_state_v_A2M(J0,X,c_idle)
| ~ m_state_v_RRM(J0,X,c_counterclock)
| ~ m_state_v_A1Mag(J0,X,c_on)
| ~ m_state_v_A2Mag(J0,X,c_off)
| ~ m_state_v_angle(J0,X,c_arm2topress)
| m_state_v_RRM(J0,Y,c_idle)
| ~ node159(J0,X,Y) ) ).
cnf(m_Robot_182,axiom,
( node150(J0,X)
| node151(J0,X)
| node152(J0,X)
| node153(J0,X)
| node154(J0,X)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| ~ m_state_v_A1M(J0,X,c_idle)
| ~ m_state_v_A2M(J0,X,c_idle)
| ~ m_state_v_RRM(J0,X,c_counterclock)
| ~ m_state_v_A1Mag(J0,X,c_on)
| ~ m_state_v_A2Mag(J0,X,c_on)
| ~ m_state_v_angle(J0,X,c_arm2todepbelt)
| m_state_v_RRM(J0,Y,c_idle)
| ~ node159(J0,X,Y) ) ).
cnf(m_Robot_183,axiom,
( node150(J0,X)
| node151(J0,X)
| node152(J0,X)
| node153(J0,X)
| node154(J0,X)
| node155(J0,X)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| ~ m_state_v_A1M(J0,X,c_idle)
| ~ m_state_v_A2M(J0,X,c_idle)
| ~ m_state_v_RRM(J0,X,c_counterclock)
| ~ m_state_v_A1Mag(J0,X,c_on)
| ~ m_state_v_A2Mag(J0,X,c_off)
| ~ m_state_v_angle(J0,X,c_arm1topress)
| m_state_v_RRM(J0,Y,c_idle)
| ~ node159(J0,X,Y) ) ).
cnf(m_Robot_184,axiom,
( node150(J0,X)
| node151(J0,X)
| node152(J0,X)
| node153(J0,X)
| node154(J0,X)
| node155(J0,X)
| node156(J0,X)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| ~ m_state_v_A1M(J0,X,c_idle)
| ~ m_state_v_A2M(J0,X,c_idle)
| ~ m_state_v_RRM(J0,X,c_clockwise)
| ~ m_state_v_A1Mag(J0,X,c_off)
| ~ m_state_v_A2Mag(J0,X,c_off)
| ~ m_state_v_angle(J0,X,c_arm1totable)
| m_state_v_RRM(J0,Y,c_idle)
| ~ node159(J0,X,Y) ) ).
cnf(m_Robot_185,axiom,
( node150(J0,X)
| node151(J0,X)
| node152(J0,X)
| node153(J0,X)
| node154(J0,X)
| node155(J0,X)
| node156(J0,X)
| node157(J0,X)
| node158(J0,X,Y)
| ~ node159(J0,X,Y) ) ).
cnf(m_Robot_186,axiom,
( ~ trans(X,Y)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| node159(J0,X,Y) ) ).
cnf(m_Robot_187,axiom,
( m_state_v_angle(J0,X,c_arm2topress)
| ~ node160(J0,X) ) ).
cnf(m_Robot_188,axiom,
( m_state_v_A2M(J0,X,c_retract)
| ~ node160(J0,X) ) ).
cnf(m_Robot_189,axiom,
( m_state_v_a2ext(J0,X,c_retracted)
| ~ node160(J0,X) ) ).
cnf(m_Robot_190,axiom,
( m_state_v_angle(J0,X,c_arm1topress)
| ~ node161(J0,X) ) ).
cnf(m_Robot_191,axiom,
( m_state_v_A1M(J0,X,c_retract)
| ~ node161(J0,X) ) ).
cnf(m_Robot_192,axiom,
( m_state_v_a1ext(J0,X,c_retracted)
| ~ node161(J0,X) ) ).
cnf(m_Robot_193,axiom,
( m_state_v_pl(J0,Y)
| ~ m_state_v_pl(J0,X)
| ~ node162(J0,X,Y) ) ).
cnf(m_Robot_194,axiom,
( ~ m_state_v_pl(J0,Y)
| m_state_v_pl(J0,X)
| ~ node162(J0,X,Y) ) ).
cnf(m_Robot_195,axiom,
( ~ m_state_v_angle(J0,X,c_arm2topress)
| ~ m_state_v_A2M(J0,X,c_retract)
| ~ m_state_v_a2ext(J0,X,c_retracted)
| ~ m_state_v_pl(J0,Y)
| ~ node163(J0,X,Y) ) ).
cnf(m_Robot_196,axiom,
( node160(J0,X)
| ~ m_state_v_angle(J0,X,c_arm1topress)
| ~ m_state_v_A1M(J0,X,c_retract)
| ~ m_state_v_a1ext(J0,X,c_retracted)
| m_state_v_pl(J0,Y)
| ~ node163(J0,X,Y) ) ).
cnf(m_Robot_197,axiom,
( node160(J0,X)
| node161(J0,X)
| node162(J0,X,Y)
| ~ node163(J0,X,Y) ) ).
cnf(m_Robot_198,axiom,
( ~ trans(X,Y)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| ~ m_Robot_v_s(I0,J0)
| node163(J0,X,Y) ) ).
cnf(m_ERTable_1,axiom,
( m_state_v_botPos(J0,X)
| ~ node164(J0,X) ) ).
cnf(m_ERTable_2,axiom,
( m_state_v_minRot(J0,X)
| ~ node164(J0,X) ) ).
cnf(m_ERTable_3,axiom,
( m_state_v_TEM(J0,X,c_idle)
| ~ node164(J0,X) ) ).
cnf(m_ERTable_4,axiom,
( m_state_v_TRM(J0,X,c_idle)
| ~ node164(J0,X) ) ).
cnf(m_ERTable_5,axiom,
( m_state_v_tl(J0,X)
| ~ node164(J0,X) ) ).
cnf(m_ERTable_6,axiom,
( m_state_v_TRM(J0,X,c_clockwise)
| ~ node165(J0,X) ) ).
cnf(m_ERTable_7,axiom,
( m_state_v_maxRot(J0,X)
| ~ node165(J0,X) ) ).
cnf(m_ERTable_8,axiom,
( m_state_v_topPos(J0,X)
| ~ node166(J0,X) ) ).
cnf(m_ERTable_9,axiom,
( m_state_v_maxRot(J0,X)
| ~ node166(J0,X) ) ).
cnf(m_ERTable_10,axiom,
( m_state_v_TEM(J0,X,c_idle)
| ~ node166(J0,X) ) ).
cnf(m_ERTable_11,axiom,
( m_state_v_TRM(J0,X,c_idle)
| ~ node166(J0,X) ) ).
cnf(m_ERTable_12,axiom,
( ~ m_state_v_tl(J0,X)
| ~ node166(J0,X) ) ).
cnf(m_ERTable_13,axiom,
( m_state_v_TRM(J0,X,c_counterclockwise)
| ~ node167(J0,X) ) ).
cnf(m_ERTable_14,axiom,
( m_state_v_minRot(J0,X)
| ~ node167(J0,X) ) ).
cnf(m_ERTable_15,axiom,
( m_state_v_TRM(J0,Y,V)
| ~ m_state_v_TRM(J0,X,V)
| ~ node168(J0,X,Y) ) ).
cnf(m_ERTable_16,axiom,
( ~ m_state_v_TRM(J0,Y,V)
| m_state_v_TRM(J0,X,V)
| ~ node168(J0,X,Y) ) ).
cnf(m_ERTable_17,axiom,
( ~ m_state_v_botPos(J0,X)
| ~ m_state_v_minRot(J0,X)
| ~ m_state_v_TEM(J0,X,c_idle)
| ~ m_state_v_TRM(J0,X,c_idle)
| ~ m_state_v_tl(J0,X)
| m_state_v_TRM(J0,Y,c_clockwise)
| ~ node169(J0,X,Y) ) ).
cnf(m_ERTable_18,axiom,
( node164(J0,X)
| ~ m_state_v_TRM(J0,X,c_clockwise)
| ~ m_state_v_maxRot(J0,X)
| m_state_v_TRM(J0,Y,c_idle)
| ~ node169(J0,X,Y) ) ).
cnf(m_ERTable_19,axiom,
( node164(J0,X)
| node165(J0,X)
| ~ m_state_v_topPos(J0,X)
| ~ m_state_v_maxRot(J0,X)
| ~ m_state_v_TEM(J0,X,c_idle)
| ~ m_state_v_TRM(J0,X,c_idle)
| m_state_v_tl(J0,X)
| m_state_v_TRM(J0,Y,c_counterclockwise)
| ~ node169(J0,X,Y) ) ).
cnf(m_ERTable_20,axiom,
( node164(J0,X)
| node165(J0,X)
| node166(J0,X)
| ~ m_state_v_TRM(J0,X,c_counterclockwise)
| ~ m_state_v_minRot(J0,X)
| m_state_v_TRM(J0,Y,c_idle)
| ~ node169(J0,X,Y) ) ).
cnf(m_ERTable_21,axiom,
( node164(J0,X)
| node165(J0,X)
| node166(J0,X)
| node167(J0,X)
| node168(J0,X,Y)
| ~ node169(J0,X,Y) ) ).
cnf(m_ERTable_22,axiom,
( ~ trans(X,Y)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| node169(J0,X,Y) ) ).
cnf(m_ERTable_23,axiom,
( m_state_v_botPos(J0,X)
| ~ node170(J0,X) ) ).
cnf(m_ERTable_24,axiom,
( m_state_v_minRot(J0,X)
| ~ node170(J0,X) ) ).
cnf(m_ERTable_25,axiom,
( m_state_v_TEM(J0,X,c_idle)
| ~ node170(J0,X) ) ).
cnf(m_ERTable_26,axiom,
( m_state_v_TRM(J0,X,c_idle)
| ~ node170(J0,X) ) ).
cnf(m_ERTable_27,axiom,
( m_state_v_tl(J0,X)
| ~ node170(J0,X) ) ).
cnf(m_ERTable_28,axiom,
( m_state_v_TEM(J0,X,c_up)
| ~ node171(J0,X) ) ).
cnf(m_ERTable_29,axiom,
( m_state_v_topPos(J0,X)
| ~ node171(J0,X) ) ).
cnf(m_ERTable_30,axiom,
( m_state_v_topPos(J0,X)
| ~ node172(J0,X) ) ).
cnf(m_ERTable_31,axiom,
( m_state_v_maxRot(J0,X)
| ~ node172(J0,X) ) ).
cnf(m_ERTable_32,axiom,
( m_state_v_TEM(J0,X,c_idle)
| ~ node172(J0,X) ) ).
cnf(m_ERTable_33,axiom,
( m_state_v_TRM(J0,X,c_idle)
| ~ node172(J0,X) ) ).
cnf(m_ERTable_34,axiom,
( ~ m_state_v_tl(J0,X)
| ~ node172(J0,X) ) ).
cnf(m_ERTable_35,axiom,
( m_state_v_TEM(J0,X,c_down)
| ~ node173(J0,X) ) ).
cnf(m_ERTable_36,axiom,
( m_state_v_botPos(J0,X)
| ~ node173(J0,X) ) ).
cnf(m_ERTable_37,axiom,
( m_state_v_TEM(J0,Y,V)
| ~ m_state_v_TEM(J0,X,V)
| ~ node174(J0,X,Y) ) ).
cnf(m_ERTable_38,axiom,
( ~ m_state_v_TEM(J0,Y,V)
| m_state_v_TEM(J0,X,V)
| ~ node174(J0,X,Y) ) ).
cnf(m_ERTable_39,axiom,
( ~ m_state_v_botPos(J0,X)
| ~ m_state_v_minRot(J0,X)
| ~ m_state_v_TEM(J0,X,c_idle)
| ~ m_state_v_TRM(J0,X,c_idle)
| ~ m_state_v_tl(J0,X)
| m_state_v_TEM(J0,Y,c_up)
| ~ node175(J0,X,Y) ) ).
cnf(m_ERTable_40,axiom,
( node170(J0,X)
| ~ m_state_v_TEM(J0,X,c_up)
| ~ m_state_v_topPos(J0,X)
| m_state_v_TEM(J0,Y,c_idle)
| ~ node175(J0,X,Y) ) ).
cnf(m_ERTable_41,axiom,
( node170(J0,X)
| node171(J0,X)
| ~ m_state_v_topPos(J0,X)
| ~ m_state_v_maxRot(J0,X)
| ~ m_state_v_TEM(J0,X,c_idle)
| ~ m_state_v_TRM(J0,X,c_idle)
| m_state_v_tl(J0,X)
| m_state_v_TEM(J0,Y,c_down)
| ~ node175(J0,X,Y) ) ).
cnf(m_ERTable_42,axiom,
( node170(J0,X)
| node171(J0,X)
| node172(J0,X)
| ~ m_state_v_TEM(J0,X,c_down)
| ~ m_state_v_botPos(J0,X)
| m_state_v_TEM(J0,Y,c_idle)
| ~ node175(J0,X,Y) ) ).
cnf(m_ERTable_43,axiom,
( node170(J0,X)
| node171(J0,X)
| node172(J0,X)
| node173(J0,X)
| node174(J0,X,Y)
| ~ node175(J0,X,Y) ) ).
cnf(m_ERTable_44,axiom,
( ~ trans(X,Y)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| ~ m_ERTable_v_s(I0,J0)
| node175(J0,X,Y) ) ).
cnf(m_FeedBelt_1,axiom,
( m_state_v_FBM(J0,X,c_on)
| ~ node176(J0,X) ) ).
cnf(m_FeedBelt_2,axiom,
( ~ m_state_v_deliv(J0,X)
| ~ node176(J0,X) ) ).
cnf(m_FeedBelt_3,axiom,
( m_state_v_pfl(J0,X)
| ~ node176(J0,X) ) ).
cnf(m_FeedBelt_4,axiom,
( m_state_v_botPos(J0,X)
| ~ node176(J0,X) ) ).
cnf(m_FeedBelt_5,axiom,
( m_state_v_minRot(J0,X)
| ~ node176(J0,X) ) ).
cnf(m_FeedBelt_6,axiom,
( m_state_v_TEM(J0,X,c_idle)
| ~ node176(J0,X) ) ).
cnf(m_FeedBelt_7,axiom,
( m_state_v_TRM(J0,X,c_idle)
| ~ node176(J0,X) ) ).
cnf(m_FeedBelt_8,axiom,
( ~ m_state_v_tl(J0,X)
| ~ node176(J0,X) ) ).
cnf(m_FeedBelt_9,axiom,
( m_state_v_botPos(J0,X)
| ~ node177(J0,X) ) ).
cnf(m_FeedBelt_10,axiom,
( m_state_v_minRot(J0,X)
| ~ node177(J0,X) ) ).
cnf(m_FeedBelt_11,axiom,
( m_state_v_TEM(J0,X,c_idle)
| ~ node177(J0,X) ) ).
cnf(m_FeedBelt_12,axiom,
( m_state_v_TRM(J0,X,c_idle)
| ~ node177(J0,X) ) ).
cnf(m_FeedBelt_13,axiom,
( ~ m_state_v_tl(J0,X)
| ~ node177(J0,X) ) ).
cnf(m_FeedBelt_14,axiom,
( m_state_v_FBM(J0,X,c_off)
| ~ node177(J0,X) ) ).
cnf(m_FeedBelt_15,axiom,
( m_state_v_FBM(J0,X,c_on)
| ~ node178(J0,X) ) ).
cnf(m_FeedBelt_16,axiom,
( m_state_v_deliv(J0,X)
| ~ node178(J0,X) ) ).
cnf(m_FeedBelt_17,axiom,
( ~ m_state_v_pfl(J0,X)
| ~ node178(J0,X) ) ).
cnf(m_FeedBelt_18,axiom,
( m_state_v_deliv(J0,Y)
| ~ m_state_v_deliv(J0,X)
| ~ node179(J0,X,Y) ) ).
cnf(m_FeedBelt_19,axiom,
( ~ m_state_v_deliv(J0,Y)
| m_state_v_deliv(J0,X)
| ~ node179(J0,X,Y) ) ).
cnf(m_FeedBelt_20,axiom,
( ~ m_state_v_FBM(J0,X,c_on)
| m_state_v_deliv(J0,X)
| ~ m_state_v_pfl(J0,X)
| ~ m_state_v_botPos(J0,X)
| ~ m_state_v_minRot(J0,X)
| ~ m_state_v_TEM(J0,X,c_idle)
| ~ m_state_v_TRM(J0,X,c_idle)
| m_state_v_tl(J0,X)
| m_state_v_deliv(J0,Y)
| ~ node180(J0,X,Y) ) ).
cnf(m_FeedBelt_21,axiom,
( node176(J0,X)
| ~ m_state_v_botPos(J0,X)
| ~ m_state_v_minRot(J0,X)
| ~ m_state_v_TEM(J0,X,c_idle)
| ~ m_state_v_TRM(J0,X,c_idle)
| m_state_v_tl(J0,X)
| ~ m_state_v_FBM(J0,X,c_off)
| m_state_v_deliv(J0,Y)
| ~ node180(J0,X,Y) ) ).
cnf(m_FeedBelt_22,axiom,
( node176(J0,X)
| node177(J0,X)
| ~ m_state_v_FBM(J0,X,c_on)
| ~ m_state_v_deliv(J0,X)
| m_state_v_pfl(J0,X)
| ~ m_state_v_deliv(J0,Y)
| ~ node180(J0,X,Y) ) ).
cnf(m_FeedBelt_23,axiom,
( node176(J0,X)
| node177(J0,X)
| node178(J0,X)
| node179(J0,X,Y)
| ~ node180(J0,X,Y) ) ).
cnf(m_FeedBelt_24,axiom,
( ~ trans(X,Y)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| node180(J0,X,Y) ) ).
cnf(m_FeedBelt_25,axiom,
( m_state_v_botPos(J0,X)
| ~ node181(J0,X) ) ).
cnf(m_FeedBelt_26,axiom,
( m_state_v_minRot(J0,X)
| ~ node181(J0,X) ) ).
cnf(m_FeedBelt_27,axiom,
( m_state_v_TEM(J0,X,c_idle)
| ~ node181(J0,X) ) ).
cnf(m_FeedBelt_28,axiom,
( m_state_v_TRM(J0,X,c_idle)
| ~ node181(J0,X) ) ).
cnf(m_FeedBelt_29,axiom,
( ~ m_state_v_tl(J0,X)
| ~ node181(J0,X) ) ).
cnf(m_FeedBelt_30,axiom,
( m_state_v_FBM(J0,X,c_on)
| ~ node182(J0,X) ) ).
cnf(m_FeedBelt_31,axiom,
( ~ m_state_v_deliv(J0,X)
| ~ node182(J0,X) ) ).
cnf(m_FeedBelt_32,axiom,
( m_state_v_pfl(J0,X)
| ~ node182(J0,X) ) ).
cnf(m_FeedBelt_33,axiom,
( ~ m_state_v_botPos(J0,X)
| ~ m_state_v_minRot(J0,X)
| ~ m_state_v_TEM(J0,X,c_idle)
| ~ m_state_v_TRM(J0,X,c_idle)
| m_state_v_tl(J0,X)
| ~ node182(J0,X) ) ).
cnf(m_FeedBelt_34,axiom,
( m_state_v_botPos(J0,X)
| ~ node183(J0,X) ) ).
cnf(m_FeedBelt_35,axiom,
( m_state_v_minRot(J0,X)
| ~ node183(J0,X) ) ).
cnf(m_FeedBelt_36,axiom,
( m_state_v_TEM(J0,X,c_idle)
| ~ node183(J0,X) ) ).
cnf(m_FeedBelt_37,axiom,
( m_state_v_TRM(J0,X,c_idle)
| ~ node183(J0,X) ) ).
cnf(m_FeedBelt_38,axiom,
( ~ m_state_v_tl(J0,X)
| ~ node183(J0,X) ) ).
cnf(m_FeedBelt_39,axiom,
( m_state_v_FBM(J0,X,c_off)
| ~ node183(J0,X) ) ).
cnf(m_FeedBelt_40,axiom,
( m_state_v_FBM(J0,Y,V)
| ~ m_state_v_FBM(J0,X,V)
| ~ node184(J0,X,Y) ) ).
cnf(m_FeedBelt_41,axiom,
( ~ m_state_v_FBM(J0,Y,V)
| m_state_v_FBM(J0,X,V)
| ~ node184(J0,X,Y) ) ).
cnf(m_FeedBelt_42,axiom,
( ~ m_state_v_FBM(J0,X,c_on)
| m_state_v_deliv(J0,X)
| ~ m_state_v_pfl(J0,X)
| node181(J0,X)
| m_state_v_FBM(J0,Y,c_off)
| ~ node185(J0,X,Y) ) ).
cnf(m_FeedBelt_43,axiom,
( node182(J0,X)
| ~ m_state_v_botPos(J0,X)
| ~ m_state_v_minRot(J0,X)
| ~ m_state_v_TEM(J0,X,c_idle)
| ~ m_state_v_TRM(J0,X,c_idle)
| m_state_v_tl(J0,X)
| ~ m_state_v_FBM(J0,X,c_off)
| m_state_v_FBM(J0,Y,c_on)
| ~ node185(J0,X,Y) ) ).
cnf(m_FeedBelt_44,axiom,
( node182(J0,X)
| node183(J0,X)
| node184(J0,X,Y)
| ~ node185(J0,X,Y) ) ).
cnf(m_FeedBelt_45,axiom,
( ~ trans(X,Y)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| ~ m_FeedBelt_v_s(I0,J0)
| node185(J0,X,Y) ) ).
cnf(m_state_1,axiom,
( m_state_v_A1M(I0,X,c_extend)
| m_state_v_A1M(I0,X,c_retract)
| m_state_v_A1M(I0,X,c_idle) ) ).
cnf(m_state_2,axiom,
( ~ m_state_v_A1M(I0,X,c_extend)
| ~ m_state_v_A1M(I0,X,c_retract) ) ).
cnf(m_state_3,axiom,
( ~ m_state_v_A1M(I0,X,c_extend)
| ~ m_state_v_A1M(I0,X,c_idle) ) ).
cnf(m_state_4,axiom,
( ~ m_state_v_A1M(I0,X,c_retract)
| ~ m_state_v_A1M(I0,X,c_idle) ) ).
cnf(m_state_5,axiom,
( m_state_v_A1Mag(I0,X,c_on)
| m_state_v_A1Mag(I0,X,c_off) ) ).
cnf(m_state_6,axiom,
( ~ m_state_v_A1Mag(I0,X,c_on)
| ~ m_state_v_A1Mag(I0,X,c_off) ) ).
cnf(m_state_7,axiom,
( m_state_v_A2M(I0,X,c_extend)
| m_state_v_A2M(I0,X,c_retract)
| m_state_v_A2M(I0,X,c_idle) ) ).
cnf(m_state_8,axiom,
( ~ m_state_v_A2M(I0,X,c_extend)
| ~ m_state_v_A2M(I0,X,c_retract) ) ).
cnf(m_state_9,axiom,
( ~ m_state_v_A2M(I0,X,c_extend)
| ~ m_state_v_A2M(I0,X,c_idle) ) ).
cnf(m_state_10,axiom,
( ~ m_state_v_A2M(I0,X,c_retract)
| ~ m_state_v_A2M(I0,X,c_idle) ) ).
cnf(m_state_11,axiom,
( m_state_v_A2Mag(I0,X,c_on)
| m_state_v_A2Mag(I0,X,c_off) ) ).
cnf(m_state_12,axiom,
( ~ m_state_v_A2Mag(I0,X,c_on)
| ~ m_state_v_A2Mag(I0,X,c_off) ) ).
cnf(m_state_13,axiom,
( m_state_v_CHM(I0,X,c_tofeedbelt)
| m_state_v_CHM(I0,X,c_todepbelt)
| m_state_v_CHM(I0,X,c_idle) ) ).
cnf(m_state_14,axiom,
( ~ m_state_v_CHM(I0,X,c_tofeedbelt)
| ~ m_state_v_CHM(I0,X,c_todepbelt) ) ).
cnf(m_state_15,axiom,
( ~ m_state_v_CHM(I0,X,c_tofeedbelt)
| ~ m_state_v_CHM(I0,X,c_idle) ) ).
cnf(m_state_16,axiom,
( ~ m_state_v_CHM(I0,X,c_todepbelt)
| ~ m_state_v_CHM(I0,X,c_idle) ) ).
cnf(m_state_17,axiom,
( m_state_v_CMag(I0,X,c_on)
| m_state_v_CMag(I0,X,c_off) ) ).
cnf(m_state_18,axiom,
( ~ m_state_v_CMag(I0,X,c_on)
| ~ m_state_v_CMag(I0,X,c_off) ) ).
cnf(m_state_19,axiom,
( m_state_v_CVM(I0,X,c_up)
| m_state_v_CVM(I0,X,c_down)
| m_state_v_CVM(I0,X,c_idle) ) ).
cnf(m_state_20,axiom,
( ~ m_state_v_CVM(I0,X,c_up)
| ~ m_state_v_CVM(I0,X,c_down) ) ).
cnf(m_state_21,axiom,
( ~ m_state_v_CVM(I0,X,c_up)
| ~ m_state_v_CVM(I0,X,c_idle) ) ).
cnf(m_state_22,axiom,
( ~ m_state_v_CVM(I0,X,c_down)
| ~ m_state_v_CVM(I0,X,c_idle) ) ).
cnf(m_state_23,axiom,
( m_state_v_DBM(I0,X,c_run)
| m_state_v_DBM(I0,X,c_idle) ) ).
cnf(m_state_24,axiom,
( ~ m_state_v_DBM(I0,X,c_run)
| ~ m_state_v_DBM(I0,X,c_idle) ) ).
cnf(m_state_25,axiom,
( m_state_v_FBM(I0,X,c_on)
| m_state_v_FBM(I0,X,c_off) ) ).
cnf(m_state_26,axiom,
( ~ m_state_v_FBM(I0,X,c_on)
| ~ m_state_v_FBM(I0,X,c_off) ) ).
cnf(m_state_27,axiom,
( m_state_v_PM(I0,X,c_up)
| m_state_v_PM(I0,X,c_down)
| m_state_v_PM(I0,X,c_idle) ) ).
cnf(m_state_28,axiom,
( ~ m_state_v_PM(I0,X,c_up)
| ~ m_state_v_PM(I0,X,c_down) ) ).
cnf(m_state_29,axiom,
( ~ m_state_v_PM(I0,X,c_up)
| ~ m_state_v_PM(I0,X,c_idle) ) ).
cnf(m_state_30,axiom,
( ~ m_state_v_PM(I0,X,c_down)
| ~ m_state_v_PM(I0,X,c_idle) ) ).
cnf(m_state_31,axiom,
( m_state_v_RRM(I0,X,c_clockwise)
| m_state_v_RRM(I0,X,c_counterclock)
| m_state_v_RRM(I0,X,c_idle) ) ).
cnf(m_state_32,axiom,
( ~ m_state_v_RRM(I0,X,c_clockwise)
| ~ m_state_v_RRM(I0,X,c_counterclock) ) ).
cnf(m_state_33,axiom,
( ~ m_state_v_RRM(I0,X,c_clockwise)
| ~ m_state_v_RRM(I0,X,c_idle) ) ).
cnf(m_state_34,axiom,
( ~ m_state_v_RRM(I0,X,c_counterclock)
| ~ m_state_v_RRM(I0,X,c_idle) ) ).
cnf(m_state_35,axiom,
( m_state_v_TEM(I0,X,c_up)
| m_state_v_TEM(I0,X,c_down)
| m_state_v_TEM(I0,X,c_idle) ) ).
cnf(m_state_36,axiom,
( ~ m_state_v_TEM(I0,X,c_up)
| ~ m_state_v_TEM(I0,X,c_down) ) ).
cnf(m_state_37,axiom,
( ~ m_state_v_TEM(I0,X,c_up)
| ~ m_state_v_TEM(I0,X,c_idle) ) ).
cnf(m_state_38,axiom,
( ~ m_state_v_TEM(I0,X,c_down)
| ~ m_state_v_TEM(I0,X,c_idle) ) ).
cnf(m_state_39,axiom,
( m_state_v_TRM(I0,X,c_clockwise)
| m_state_v_TRM(I0,X,c_counterclockwise)
| m_state_v_TRM(I0,X,c_idle) ) ).
cnf(m_state_40,axiom,
( ~ m_state_v_TRM(I0,X,c_clockwise)
| ~ m_state_v_TRM(I0,X,c_counterclockwise) ) ).
cnf(m_state_41,axiom,
( ~ m_state_v_TRM(I0,X,c_clockwise)
| ~ m_state_v_TRM(I0,X,c_idle) ) ).
cnf(m_state_42,axiom,
( ~ m_state_v_TRM(I0,X,c_counterclockwise)
| ~ m_state_v_TRM(I0,X,c_idle) ) ).
cnf(m_state_43,axiom,
( m_state_v_a1ext(I0,X,c_a1ip)
| m_state_v_a1ext(I0,X,c_ot)
| m_state_v_a1ext(I0,X,c_retracted) ) ).
cnf(m_state_44,axiom,
( ~ m_state_v_a1ext(I0,X,c_a1ip)
| ~ m_state_v_a1ext(I0,X,c_ot) ) ).
cnf(m_state_45,axiom,
( ~ m_state_v_a1ext(I0,X,c_a1ip)
| ~ m_state_v_a1ext(I0,X,c_retracted) ) ).
cnf(m_state_46,axiom,
( ~ m_state_v_a1ext(I0,X,c_ot)
| ~ m_state_v_a1ext(I0,X,c_retracted) ) ).
cnf(m_state_47,axiom,
( m_state_v_a2ext(I0,X,c_a2ip)
| m_state_v_a2ext(I0,X,c_ob)
| m_state_v_a2ext(I0,X,c_retracted) ) ).
cnf(m_state_48,axiom,
( ~ m_state_v_a2ext(I0,X,c_a2ip)
| ~ m_state_v_a2ext(I0,X,c_ob) ) ).
cnf(m_state_49,axiom,
( ~ m_state_v_a2ext(I0,X,c_a2ip)
| ~ m_state_v_a2ext(I0,X,c_retracted) ) ).
cnf(m_state_50,axiom,
( ~ m_state_v_a2ext(I0,X,c_ob)
| ~ m_state_v_a2ext(I0,X,c_retracted) ) ).
cnf(m_state_51,axiom,
( m_state_v_angle(I0,X,c_arm1totable)
| m_state_v_angle(I0,X,c_arm2topress)
| m_state_v_angle(I0,X,c_arm2todepbelt)
| m_state_v_angle(I0,X,c_arm1topress) ) ).
cnf(m_state_52,axiom,
( ~ m_state_v_angle(I0,X,c_arm1totable)
| ~ m_state_v_angle(I0,X,c_arm2topress) ) ).
cnf(m_state_53,axiom,
( ~ m_state_v_angle(I0,X,c_arm1totable)
| ~ m_state_v_angle(I0,X,c_arm2todepbelt) ) ).
cnf(m_state_54,axiom,
( ~ m_state_v_angle(I0,X,c_arm1totable)
| ~ m_state_v_angle(I0,X,c_arm1topress) ) ).
cnf(m_state_55,axiom,
( ~ m_state_v_angle(I0,X,c_arm2topress)
| ~ m_state_v_angle(I0,X,c_arm2todepbelt) ) ).
cnf(m_state_56,axiom,
( ~ m_state_v_angle(I0,X,c_arm2topress)
| ~ m_state_v_angle(I0,X,c_arm1topress) ) ).
cnf(m_state_57,axiom,
( ~ m_state_v_angle(I0,X,c_arm2todepbelt)
| ~ m_state_v_angle(I0,X,c_arm1topress) ) ).
cnf(m_state_58,axiom,
( m_state_v_angle_status(I0,X,c_arm2stoppedatpress)
| m_state_v_angle_status(I0,X,c_arm2stoppedatbelt)
| m_state_v_angle_status(I0,X,c_arm1stoppedatpress)
| m_state_v_angle_status(I0,X,c_arm1stoppedattable) ) ).
cnf(m_state_59,axiom,
( ~ m_state_v_angle_status(I0,X,c_arm2stoppedatpress)
| ~ m_state_v_angle_status(I0,X,c_arm2stoppedatbelt) ) ).
cnf(m_state_60,axiom,
( ~ m_state_v_angle_status(I0,X,c_arm2stoppedatpress)
| ~ m_state_v_angle_status(I0,X,c_arm1stoppedatpress) ) ).
cnf(m_state_61,axiom,
( ~ m_state_v_angle_status(I0,X,c_arm2stoppedatpress)
| ~ m_state_v_angle_status(I0,X,c_arm1stoppedattable) ) ).
cnf(m_state_62,axiom,
( ~ m_state_v_angle_status(I0,X,c_arm2stoppedatbelt)
| ~ m_state_v_angle_status(I0,X,c_arm1stoppedatpress) ) ).
cnf(m_state_63,axiom,
( ~ m_state_v_angle_status(I0,X,c_arm2stoppedatbelt)
| ~ m_state_v_angle_status(I0,X,c_arm1stoppedattable) ) ).
cnf(m_state_64,axiom,
( ~ m_state_v_angle_status(I0,X,c_arm1stoppedatpress)
| ~ m_state_v_angle_status(I0,X,c_arm1stoppedattable) ) ).
cnf(m_state_65,axiom,
( m_state_v_gripper_status(I0,X,c_gripperstoppedat_ovf)
| m_state_v_gripper_status(I0,X,c_gripperstoppedat_ovb)
| m_state_v_gripper_status(I0,X,c_gripperstoppedat_sd) ) ).
cnf(m_state_66,axiom,
( ~ m_state_v_gripper_status(I0,X,c_gripperstoppedat_ovf)
| ~ m_state_v_gripper_status(I0,X,c_gripperstoppedat_ovb) ) ).
cnf(m_state_67,axiom,
( ~ m_state_v_gripper_status(I0,X,c_gripperstoppedat_ovf)
| ~ m_state_v_gripper_status(I0,X,c_gripperstoppedat_sd) ) ).
cnf(m_state_68,axiom,
( ~ m_state_v_gripper_status(I0,X,c_gripperstoppedat_ovb)
| ~ m_state_v_gripper_status(I0,X,c_gripperstoppedat_sd) ) ).
cnf(m_state_69,axiom,
( m_state_v_gvp(I0,X,c_ovb)
| m_state_v_gvp(I0,X,c_ovf)
| m_state_v_gvp(I0,X,c_sd) ) ).
cnf(m_state_70,axiom,
( ~ m_state_v_gvp(I0,X,c_ovb)
| ~ m_state_v_gvp(I0,X,c_ovf) ) ).
cnf(m_state_71,axiom,
( ~ m_state_v_gvp(I0,X,c_ovb)
| ~ m_state_v_gvp(I0,X,c_sd) ) ).
cnf(m_state_72,axiom,
( ~ m_state_v_gvp(I0,X,c_ovf)
| ~ m_state_v_gvp(I0,X,c_sd) ) ).
cnf(m_state_73,axiom,
( m_state_v_press_status(I0,X,c_pressattop)
| m_state_v_press_status(I0,X,c_pressatmid)
| m_state_v_press_status(I0,X,c_pressatbot) ) ).
cnf(m_state_74,axiom,
( ~ m_state_v_press_status(I0,X,c_pressattop)
| ~ m_state_v_press_status(I0,X,c_pressatmid) ) ).
cnf(m_state_75,axiom,
( ~ m_state_v_press_status(I0,X,c_pressattop)
| ~ m_state_v_press_status(I0,X,c_pressatbot) ) ).
cnf(m_state_76,axiom,
( ~ m_state_v_press_status(I0,X,c_pressatmid)
| ~ m_state_v_press_status(I0,X,c_pressatbot) ) ).
cnf(m_state_77,axiom,
m_state_v_FBM(I0,s0,c_off) ).
cnf(m_state_78,axiom,
~ m_state_v_deliv(I0,s0) ).
cnf(m_state_79,axiom,
m_state_v_pfl(I0,s0) ).
cnf(m_state_80,axiom,
m_state_v_botPos(I0,s0) ).
cnf(m_state_81,axiom,
m_state_v_minRot(I0,s0) ).
cnf(m_state_82,axiom,
m_state_v_TEM(I0,s0,c_idle) ).
cnf(m_state_83,axiom,
m_state_v_TRM(I0,s0,c_idle) ).
cnf(m_state_84,axiom,
m_state_v_tl(I0,s0) ).
cnf(m_state_85,axiom,
~ m_state_v_maxRot(I0,s0) ).
cnf(m_state_86,axiom,
~ m_state_v_topPos(I0,s0) ).
cnf(m_state_87,axiom,
m_state_v_A1M(I0,s0,c_idle) ).
cnf(m_state_88,axiom,
m_state_v_angle(I0,s0,c_arm1totable) ).
cnf(m_state_89,axiom,
m_state_v_angle_status(I0,s0,c_arm1stoppedattable) ).
cnf(m_state_90,axiom,
m_state_v_a1ext(I0,s0,c_retracted) ).
cnf(m_state_91,axiom,
m_state_v_a2ext(I0,s0,c_retracted) ).
cnf(m_state_92,axiom,
m_state_v_RRM(I0,s0,c_idle) ).
cnf(m_state_93,axiom,
m_state_v_A2M(I0,s0,c_idle) ).
cnf(m_state_94,axiom,
m_state_v_A1Mag(I0,s0,c_off) ).
cnf(m_state_95,axiom,
m_state_v_A2Mag(I0,s0,c_off) ).
cnf(m_state_96,axiom,
~ m_state_v_brl(I0,s0) ).
cnf(m_state_97,axiom,
~ m_state_v_midPosP(I0,s0) ).
cnf(m_state_98,axiom,
m_state_v_press_status(I0,s0,c_pressatbot) ).
cnf(m_state_99,axiom,
m_state_v_pl(I0,s0) ).
cnf(m_state_100,axiom,
m_state_v_PM(I0,s0,c_idle) ).
cnf(m_state_101,axiom,
m_state_v_botPosP(I0,s0) ).
cnf(m_state_102,axiom,
~ m_state_v_topPosP(I0,s0) ).
cnf(m_state_103,axiom,
~ m_state_v_fc(I0,s0) ).
cnf(m_state_104,axiom,
~ m_state_v_crit(I0,s0) ).
cnf(m_state_105,axiom,
m_state_v_DBM(I0,s0,c_idle) ).
cnf(m_state_106,axiom,
~ m_state_v_pbl(I0,s0) ).
cnf(m_state_107,axiom,
m_state_v_CMag(I0,s0,c_on) ).
cnf(m_state_108,axiom,
m_state_v_gob(I0,s0) ).
cnf(m_state_109,axiom,
m_state_v_gvp(I0,s0,c_ovb) ).
cnf(m_state_110,axiom,
m_state_v_gripper_status(I0,s0,c_gripperstoppedat_ovb) ).
cnf(m_state_111,axiom,
m_state_v_CVM(I0,s0,c_idle) ).
cnf(m_state_112,axiom,
m_state_v_CHM(I0,s0,c_idle) ).
cnf(m_state_113,axiom,
m_state_v_pbe(I0,s0) ).
cnf(m_state_114,axiom,
~ m_state_v_gof(I0,s0) ).
cnf(m_state_115,axiom,
~ m_state_v_ff(I0,s0) ).
cnf(prpty1,negated_conjecture,
( ~ m_state_v_FBM(c_s,X,c_on)
| ~ m_state_v_deliv(c_s,X)
| ~ always186(X) ) ).
cnf(prpty2,negated_conjecture,
( always186(Y)
| ~ trans(X,Y)
| ~ always186(X) ) ).
cnf(prpty3,negated_conjecture,
( loop
| ~ always186(X)
| ~ last(X) ) ).
cnf(prpty4,negated_conjecture,
( m_state_v_FBM(c_s,X,c_on)
| ~ node187(X) ) ).
cnf(prpty5,negated_conjecture,
( ~ m_state_v_deliv(c_s,X)
| ~ node187(X) ) ).
cnf(prpty6,negated_conjecture,
( always186(X)
| ~ node187(X) ) ).
cnf(prpty7,negated_conjecture,
( ~ m_state_v_botPos(c_s,X)
| ~ m_state_v_minRot(c_s,X)
| ~ m_state_v_TEM(c_s,X,c_idle)
| ~ m_state_v_TRM(c_s,X,c_idle)
| ~ always188(X) ) ).
cnf(prpty8,negated_conjecture,
( always188(Y)
| ~ trans(X,Y)
| ~ always188(X) ) ).
cnf(prpty9,negated_conjecture,
( loop
| ~ always188(X)
| ~ last(X) ) ).
cnf(prpty10,negated_conjecture,
( m_state_v_FBM(c_s,X,c_on)
| ~ node189(X) ) ).
cnf(prpty11,negated_conjecture,
( m_state_v_deliv(c_s,X)
| ~ node189(X) ) ).
cnf(prpty12,negated_conjecture,
( always188(X)
| ~ node189(X) ) ).
cnf(prpty13,negated_conjecture,
( ~ m_state_v_topPos(c_s,X)
| ~ m_state_v_maxRot(c_s,X)
| ~ m_state_v_TEM(c_s,X,c_idle)
| ~ m_state_v_TRM(c_s,X,c_idle)
| ~ always190(X) ) ).
cnf(prpty14,negated_conjecture,
( always190(Y)
| ~ trans(X,Y)
| ~ always190(X) ) ).
cnf(prpty15,negated_conjecture,
( loop
| ~ always190(X)
| ~ last(X) ) ).
cnf(prpty16,negated_conjecture,
( m_state_v_botPos(c_s,X)
| ~ node191(X) ) ).
cnf(prpty17,negated_conjecture,
( m_state_v_minRot(c_s,X)
| ~ node191(X) ) ).
cnf(prpty18,negated_conjecture,
( m_state_v_TEM(c_s,X,c_idle)
| ~ node191(X) ) ).
cnf(prpty19,negated_conjecture,
( m_state_v_TRM(c_s,X,c_idle)
| ~ node191(X) ) ).
cnf(prpty20,negated_conjecture,
( always190(X)
| ~ node191(X) ) ).
cnf(prpty21,negated_conjecture,
( ~ m_state_v_angle(c_s,X,c_arm1totable)
| ~ m_state_v_A1M(c_s,X,c_extend)
| ~ m_state_v_a1ext(c_s,X,c_ot)
| ~ always192(X) ) ).
cnf(prpty22,negated_conjecture,
( always192(Y)
| ~ trans(X,Y)
| ~ always192(X) ) ).
cnf(prpty23,negated_conjecture,
( loop
| ~ always192(X)
| ~ last(X) ) ).
cnf(prpty24,negated_conjecture,
( m_state_v_topPos(c_s,X)
| ~ node193(X) ) ).
cnf(prpty25,negated_conjecture,
( m_state_v_maxRot(c_s,X)
| ~ node193(X) ) ).
cnf(prpty26,negated_conjecture,
( m_state_v_TEM(c_s,X,c_idle)
| ~ node193(X) ) ).
cnf(prpty27,negated_conjecture,
( m_state_v_TRM(c_s,X,c_idle)
| ~ node193(X) ) ).
cnf(prpty28,negated_conjecture,
( always192(X)
| ~ node193(X) ) ).
cnf(prpty29,negated_conjecture,
( ~ m_state_v_angle(c_s,X,c_arm1topress)
| ~ m_state_v_A1M(c_s,X,c_extend)
| ~ m_state_v_a1ext(c_s,X,c_a1ip)
| ~ always194(X) ) ).
cnf(prpty30,negated_conjecture,
( always194(Y)
| ~ trans(X,Y)
| ~ always194(X) ) ).
cnf(prpty31,negated_conjecture,
( loop
| ~ always194(X)
| ~ last(X) ) ).
cnf(prpty32,negated_conjecture,
( m_state_v_angle(c_s,X,c_arm1totable)
| ~ node195(X) ) ).
cnf(prpty33,negated_conjecture,
( m_state_v_A1M(c_s,X,c_extend)
| ~ node195(X) ) ).
cnf(prpty34,negated_conjecture,
( m_state_v_a1ext(c_s,X,c_ot)
| ~ node195(X) ) ).
cnf(prpty35,negated_conjecture,
( always194(X)
| ~ node195(X) ) ).
cnf(prpty36,negated_conjecture,
( ~ m_state_v_midPosP(c_s,X)
| ~ m_state_v_PM(c_s,X,c_idle)
| ~ always196(X) ) ).
cnf(prpty37,negated_conjecture,
( always196(Y)
| ~ trans(X,Y)
| ~ always196(X) ) ).
cnf(prpty38,negated_conjecture,
( loop
| ~ always196(X)
| ~ last(X) ) ).
cnf(prpty39,negated_conjecture,
( m_state_v_angle(c_s,X,c_arm1topress)
| ~ node197(X) ) ).
cnf(prpty40,negated_conjecture,
( m_state_v_A1M(c_s,X,c_extend)
| ~ node197(X) ) ).
cnf(prpty41,negated_conjecture,
( m_state_v_a1ext(c_s,X,c_a1ip)
| ~ node197(X) ) ).
cnf(prpty42,negated_conjecture,
( always196(X)
| ~ node197(X) ) ).
cnf(prpty43,negated_conjecture,
( ~ m_state_v_topPosP(c_s,X)
| ~ m_state_v_PM(c_s,X,c_idle)
| ~ always198(X) ) ).
cnf(prpty44,negated_conjecture,
( always198(Y)
| ~ trans(X,Y)
| ~ always198(X) ) ).
cnf(prpty45,negated_conjecture,
( loop
| ~ always198(X)
| ~ last(X) ) ).
cnf(prpty46,negated_conjecture,
( m_state_v_midPosP(c_s,X)
| ~ node199(X) ) ).
cnf(prpty47,negated_conjecture,
( m_state_v_PM(c_s,X,c_idle)
| ~ node199(X) ) ).
cnf(prpty48,negated_conjecture,
( always198(X)
| ~ node199(X) ) ).
cnf(prpty49,negated_conjecture,
( ~ m_state_v_botPosP(c_s,X)
| ~ m_state_v_PM(c_s,X,c_idle)
| ~ always200(X) ) ).
cnf(prpty50,negated_conjecture,
( always200(Y)
| ~ trans(X,Y)
| ~ always200(X) ) ).
cnf(prpty51,negated_conjecture,
( loop
| ~ always200(X)
| ~ last(X) ) ).
cnf(prpty52,negated_conjecture,
( m_state_v_topPosP(c_s,X)
| ~ node201(X) ) ).
cnf(prpty53,negated_conjecture,
( m_state_v_PM(c_s,X,c_idle)
| ~ node201(X) ) ).
cnf(prpty54,negated_conjecture,
( always200(X)
| ~ node201(X) ) ).
cnf(prpty55,negated_conjecture,
( ~ m_state_v_angle(c_s,X,c_arm2topress)
| ~ m_state_v_A2M(c_s,X,c_extend)
| ~ m_state_v_a2ext(c_s,X,c_a2ip)
| ~ always202(X) ) ).
cnf(prpty56,negated_conjecture,
( always202(Y)
| ~ trans(X,Y)
| ~ always202(X) ) ).
cnf(prpty57,negated_conjecture,
( loop
| ~ always202(X)
| ~ last(X) ) ).
cnf(prpty58,negated_conjecture,
( m_state_v_botPosP(c_s,X)
| ~ node203(X) ) ).
cnf(prpty59,negated_conjecture,
( m_state_v_PM(c_s,X,c_idle)
| ~ node203(X) ) ).
cnf(prpty60,negated_conjecture,
( always202(X)
| ~ node203(X) ) ).
cnf(prpty61,negated_conjecture,
( ~ m_state_v_angle(c_s,X,c_arm2todepbelt)
| ~ m_state_v_A2M(c_s,X,c_extend)
| ~ m_state_v_a2ext(c_s,X,c_ob)
| ~ always204(X) ) ).
cnf(prpty62,negated_conjecture,
( always204(Y)
| ~ trans(X,Y)
| ~ always204(X) ) ).
cnf(prpty63,negated_conjecture,
( loop
| ~ always204(X)
| ~ last(X) ) ).
cnf(prpty64,negated_conjecture,
( m_state_v_angle(c_s,X,c_arm2topress)
| ~ node205(X) ) ).
cnf(prpty65,negated_conjecture,
( m_state_v_A2M(c_s,X,c_extend)
| ~ node205(X) ) ).
cnf(prpty66,negated_conjecture,
( m_state_v_a2ext(c_s,X,c_a2ip)
| ~ node205(X) ) ).
cnf(prpty67,negated_conjecture,
( always204(X)
| ~ node205(X) ) ).
cnf(prpty68,negated_conjecture,
( ~ m_state_v_DBM(c_s,X,c_run)
| m_state_v_crit(c_s,X)
| ~ always206(X) ) ).
cnf(prpty69,negated_conjecture,
( always206(Y)
| ~ trans(X,Y)
| ~ always206(X) ) ).
cnf(prpty70,negated_conjecture,
( loop
| ~ always206(X)
| ~ last(X) ) ).
cnf(prpty71,negated_conjecture,
( m_state_v_angle(c_s,X,c_arm2todepbelt)
| ~ node207(X) ) ).
cnf(prpty72,negated_conjecture,
( m_state_v_A2M(c_s,X,c_extend)
| ~ node207(X) ) ).
cnf(prpty73,negated_conjecture,
( m_state_v_a2ext(c_s,X,c_ob)
| ~ node207(X) ) ).
cnf(prpty74,negated_conjecture,
( always206(X)
| ~ node207(X) ) ).
cnf(prpty75,negated_conjecture,
( ~ m_state_v_DBM(c_s,X,c_run)
| ~ m_state_v_crit(c_s,X)
| ~ always208(X) ) ).
cnf(prpty76,negated_conjecture,
( always208(Y)
| ~ trans(X,Y)
| ~ always208(X) ) ).
cnf(prpty77,negated_conjecture,
( loop
| ~ always208(X)
| ~ last(X) ) ).
cnf(prpty78,negated_conjecture,
( m_state_v_DBM(c_s,X,c_run)
| ~ node209(X) ) ).
cnf(prpty79,negated_conjecture,
( ~ m_state_v_crit(c_s,X)
| ~ node209(X) ) ).
cnf(prpty80,negated_conjecture,
( always208(X)
| ~ node209(X) ) ).
cnf(prpty81,negated_conjecture,
( ~ m_state_v_gob(c_s,X)
| ~ m_state_v_gvp(c_s,X,c_ovb)
| ~ m_state_v_CHM(c_s,X,c_idle)
| ~ m_state_v_CVM(c_s,X,c_idle)
| ~ m_state_v_CMag(c_s,X,c_off)
| ~ m_state_v_pbe(c_s,X)
| ~ always210(X) ) ).
cnf(prpty82,negated_conjecture,
( always210(Y)
| ~ trans(X,Y)
| ~ always210(X) ) ).
cnf(prpty83,negated_conjecture,
( loop
| ~ always210(X)
| ~ last(X) ) ).
cnf(prpty84,negated_conjecture,
( m_state_v_DBM(c_s,X,c_run)
| ~ node211(X) ) ).
cnf(prpty85,negated_conjecture,
( m_state_v_crit(c_s,X)
| ~ node211(X) ) ).
cnf(prpty86,negated_conjecture,
( always210(X)
| ~ node211(X) ) ).
cnf(prpty87,negated_conjecture,
( ~ m_state_v_CVM(c_s,X,c_down)
| ~ m_state_v_gvp(c_s,X,c_ovf)
| ~ m_state_v_gof(c_s,X)
| ~ always212(X) ) ).
cnf(prpty88,negated_conjecture,
( always212(Y)
| ~ trans(X,Y)
| ~ always212(X) ) ).
cnf(prpty89,negated_conjecture,
( loop
| ~ always212(X)
| ~ last(X) ) ).
cnf(prpty90,negated_conjecture,
( m_state_v_gob(c_s,X)
| ~ node213(X) ) ).
cnf(prpty91,negated_conjecture,
( m_state_v_gvp(c_s,X,c_ovb)
| ~ node213(X) ) ).
cnf(prpty92,negated_conjecture,
( m_state_v_CHM(c_s,X,c_idle)
| ~ node213(X) ) ).
cnf(prpty93,negated_conjecture,
( m_state_v_CVM(c_s,X,c_idle)
| ~ node213(X) ) ).
cnf(prpty94,negated_conjecture,
( m_state_v_CMag(c_s,X,c_off)
| ~ node213(X) ) ).
cnf(prpty95,negated_conjecture,
( m_state_v_pbe(c_s,X)
| ~ node213(X) ) ).
cnf(prpty96,negated_conjecture,
( always212(X)
| ~ node213(X) ) ).
cnf(prpty97,negated_conjecture,
( ~ m_state_v_FBM(c_s,X,c_on)
| m_state_v_deliv(c_s,X)
| ~ always214(X) ) ).
cnf(prpty98,negated_conjecture,
( always214(Y)
| ~ trans(X,Y)
| ~ always214(X) ) ).
cnf(prpty99,negated_conjecture,
( loop
| ~ always214(X)
| ~ last(X) ) ).
cnf(prpty100,negated_conjecture,
( m_state_v_CVM(c_s,X,c_down)
| ~ node215(X) ) ).
cnf(prpty101,negated_conjecture,
( m_state_v_gvp(c_s,X,c_ovf)
| ~ node215(X) ) ).
cnf(prpty102,negated_conjecture,
( m_state_v_gof(c_s,X)
| ~ node215(X) ) ).
cnf(prpty103,negated_conjecture,
( always214(X)
| ~ node215(X) ) ).
cnf(prpty104,negated_conjecture,
( node215(X)
| xuntil217(X)
| ~ until216(X) ) ).
cnf(prpty105,negated_conjecture,
( until216(Y)
| ~ succ(X,Y)
| ~ xuntil217(X) ) ).
cnf(prpty106,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil217(X) ) ).
cnf(prpty107,negated_conjecture,
( until2p218(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil217(X) ) ).
cnf(prpty108,negated_conjecture,
( node215(X)
| xuntil2p219(X)
| ~ until2p218(X) ) ).
cnf(prpty109,negated_conjecture,
( until2p218(Y)
| ~ succ(X,Y)
| ~ xuntil2p219(X) ) ).
cnf(prpty110,negated_conjecture,
( ~ last(X)
| ~ xuntil2p219(X) ) ).
cnf(prpty111,negated_conjecture,
( node213(X)
| until216(X)
| ~ node220(X) ) ).
cnf(prpty112,negated_conjecture,
( node220(X)
| xuntil222(X)
| ~ until221(X) ) ).
cnf(prpty113,negated_conjecture,
( until221(Y)
| ~ succ(X,Y)
| ~ xuntil222(X) ) ).
cnf(prpty114,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil222(X) ) ).
cnf(prpty115,negated_conjecture,
( until2p223(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil222(X) ) ).
cnf(prpty116,negated_conjecture,
( node220(X)
| xuntil2p224(X)
| ~ until2p223(X) ) ).
cnf(prpty117,negated_conjecture,
( until2p223(Y)
| ~ succ(X,Y)
| ~ xuntil2p224(X) ) ).
cnf(prpty118,negated_conjecture,
( ~ last(X)
| ~ xuntil2p224(X) ) ).
cnf(prpty119,negated_conjecture,
( node211(X)
| until221(X)
| ~ node225(X) ) ).
cnf(prpty120,negated_conjecture,
( node225(X)
| xuntil227(X)
| ~ until226(X) ) ).
cnf(prpty121,negated_conjecture,
( until226(Y)
| ~ succ(X,Y)
| ~ xuntil227(X) ) ).
cnf(prpty122,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil227(X) ) ).
cnf(prpty123,negated_conjecture,
( until2p228(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil227(X) ) ).
cnf(prpty124,negated_conjecture,
( node225(X)
| xuntil2p229(X)
| ~ until2p228(X) ) ).
cnf(prpty125,negated_conjecture,
( until2p228(Y)
| ~ succ(X,Y)
| ~ xuntil2p229(X) ) ).
cnf(prpty126,negated_conjecture,
( ~ last(X)
| ~ xuntil2p229(X) ) ).
cnf(prpty127,negated_conjecture,
( node209(X)
| until226(X)
| ~ node230(X) ) ).
cnf(prpty128,negated_conjecture,
( node230(X)
| xuntil232(X)
| ~ until231(X) ) ).
cnf(prpty129,negated_conjecture,
( until231(Y)
| ~ succ(X,Y)
| ~ xuntil232(X) ) ).
cnf(prpty130,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil232(X) ) ).
cnf(prpty131,negated_conjecture,
( until2p233(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil232(X) ) ).
cnf(prpty132,negated_conjecture,
( node230(X)
| xuntil2p234(X)
| ~ until2p233(X) ) ).
cnf(prpty133,negated_conjecture,
( until2p233(Y)
| ~ succ(X,Y)
| ~ xuntil2p234(X) ) ).
cnf(prpty134,negated_conjecture,
( ~ last(X)
| ~ xuntil2p234(X) ) ).
cnf(prpty135,negated_conjecture,
( node207(X)
| until231(X)
| ~ node235(X) ) ).
cnf(prpty136,negated_conjecture,
( node235(X)
| xuntil237(X)
| ~ until236(X) ) ).
cnf(prpty137,negated_conjecture,
( until236(Y)
| ~ succ(X,Y)
| ~ xuntil237(X) ) ).
cnf(prpty138,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil237(X) ) ).
cnf(prpty139,negated_conjecture,
( until2p238(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil237(X) ) ).
cnf(prpty140,negated_conjecture,
( node235(X)
| xuntil2p239(X)
| ~ until2p238(X) ) ).
cnf(prpty141,negated_conjecture,
( until2p238(Y)
| ~ succ(X,Y)
| ~ xuntil2p239(X) ) ).
cnf(prpty142,negated_conjecture,
( ~ last(X)
| ~ xuntil2p239(X) ) ).
cnf(prpty143,negated_conjecture,
( node205(X)
| until236(X)
| ~ node240(X) ) ).
cnf(prpty144,negated_conjecture,
( node240(X)
| xuntil242(X)
| ~ until241(X) ) ).
cnf(prpty145,negated_conjecture,
( until241(Y)
| ~ succ(X,Y)
| ~ xuntil242(X) ) ).
cnf(prpty146,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil242(X) ) ).
cnf(prpty147,negated_conjecture,
( until2p243(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil242(X) ) ).
cnf(prpty148,negated_conjecture,
( node240(X)
| xuntil2p244(X)
| ~ until2p243(X) ) ).
cnf(prpty149,negated_conjecture,
( until2p243(Y)
| ~ succ(X,Y)
| ~ xuntil2p244(X) ) ).
cnf(prpty150,negated_conjecture,
( ~ last(X)
| ~ xuntil2p244(X) ) ).
cnf(prpty151,negated_conjecture,
( node203(X)
| until241(X)
| ~ node245(X) ) ).
cnf(prpty152,negated_conjecture,
( node245(X)
| xuntil247(X)
| ~ until246(X) ) ).
cnf(prpty153,negated_conjecture,
( until246(Y)
| ~ succ(X,Y)
| ~ xuntil247(X) ) ).
cnf(prpty154,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil247(X) ) ).
cnf(prpty155,negated_conjecture,
( until2p248(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil247(X) ) ).
cnf(prpty156,negated_conjecture,
( node245(X)
| xuntil2p249(X)
| ~ until2p248(X) ) ).
cnf(prpty157,negated_conjecture,
( until2p248(Y)
| ~ succ(X,Y)
| ~ xuntil2p249(X) ) ).
cnf(prpty158,negated_conjecture,
( ~ last(X)
| ~ xuntil2p249(X) ) ).
cnf(prpty159,negated_conjecture,
( node201(X)
| until246(X)
| ~ node250(X) ) ).
cnf(prpty160,negated_conjecture,
( node250(X)
| xuntil252(X)
| ~ until251(X) ) ).
cnf(prpty161,negated_conjecture,
( until251(Y)
| ~ succ(X,Y)
| ~ xuntil252(X) ) ).
cnf(prpty162,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil252(X) ) ).
cnf(prpty163,negated_conjecture,
( until2p253(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil252(X) ) ).
cnf(prpty164,negated_conjecture,
( node250(X)
| xuntil2p254(X)
| ~ until2p253(X) ) ).
cnf(prpty165,negated_conjecture,
( until2p253(Y)
| ~ succ(X,Y)
| ~ xuntil2p254(X) ) ).
cnf(prpty166,negated_conjecture,
( ~ last(X)
| ~ xuntil2p254(X) ) ).
cnf(prpty167,negated_conjecture,
( node199(X)
| until251(X)
| ~ node255(X) ) ).
cnf(prpty168,negated_conjecture,
( node255(X)
| xuntil257(X)
| ~ until256(X) ) ).
cnf(prpty169,negated_conjecture,
( until256(Y)
| ~ succ(X,Y)
| ~ xuntil257(X) ) ).
cnf(prpty170,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil257(X) ) ).
cnf(prpty171,negated_conjecture,
( until2p258(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil257(X) ) ).
cnf(prpty172,negated_conjecture,
( node255(X)
| xuntil2p259(X)
| ~ until2p258(X) ) ).
cnf(prpty173,negated_conjecture,
( until2p258(Y)
| ~ succ(X,Y)
| ~ xuntil2p259(X) ) ).
cnf(prpty174,negated_conjecture,
( ~ last(X)
| ~ xuntil2p259(X) ) ).
cnf(prpty175,negated_conjecture,
( node197(X)
| until256(X)
| ~ node260(X) ) ).
cnf(prpty176,negated_conjecture,
( node260(X)
| xuntil262(X)
| ~ until261(X) ) ).
cnf(prpty177,negated_conjecture,
( until261(Y)
| ~ succ(X,Y)
| ~ xuntil262(X) ) ).
cnf(prpty178,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil262(X) ) ).
cnf(prpty179,negated_conjecture,
( until2p263(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil262(X) ) ).
cnf(prpty180,negated_conjecture,
( node260(X)
| xuntil2p264(X)
| ~ until2p263(X) ) ).
cnf(prpty181,negated_conjecture,
( until2p263(Y)
| ~ succ(X,Y)
| ~ xuntil2p264(X) ) ).
cnf(prpty182,negated_conjecture,
( ~ last(X)
| ~ xuntil2p264(X) ) ).
cnf(prpty183,negated_conjecture,
( node195(X)
| until261(X)
| ~ node265(X) ) ).
cnf(prpty184,negated_conjecture,
( node265(X)
| xuntil267(X)
| ~ until266(X) ) ).
cnf(prpty185,negated_conjecture,
( until266(Y)
| ~ succ(X,Y)
| ~ xuntil267(X) ) ).
cnf(prpty186,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil267(X) ) ).
cnf(prpty187,negated_conjecture,
( until2p268(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil267(X) ) ).
cnf(prpty188,negated_conjecture,
( node265(X)
| xuntil2p269(X)
| ~ until2p268(X) ) ).
cnf(prpty189,negated_conjecture,
( until2p268(Y)
| ~ succ(X,Y)
| ~ xuntil2p269(X) ) ).
cnf(prpty190,negated_conjecture,
( ~ last(X)
| ~ xuntil2p269(X) ) ).
cnf(prpty191,negated_conjecture,
( node193(X)
| until266(X)
| ~ node270(X) ) ).
cnf(prpty192,negated_conjecture,
( node270(X)
| xuntil272(X)
| ~ until271(X) ) ).
cnf(prpty193,negated_conjecture,
( until271(Y)
| ~ succ(X,Y)
| ~ xuntil272(X) ) ).
cnf(prpty194,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil272(X) ) ).
cnf(prpty195,negated_conjecture,
( until2p273(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil272(X) ) ).
cnf(prpty196,negated_conjecture,
( node270(X)
| xuntil2p274(X)
| ~ until2p273(X) ) ).
cnf(prpty197,negated_conjecture,
( until2p273(Y)
| ~ succ(X,Y)
| ~ xuntil2p274(X) ) ).
cnf(prpty198,negated_conjecture,
( ~ last(X)
| ~ xuntil2p274(X) ) ).
cnf(prpty199,negated_conjecture,
( node191(X)
| until271(X)
| ~ node275(X) ) ).
cnf(prpty200,negated_conjecture,
( node275(X)
| xuntil277(X)
| ~ until276(X) ) ).
cnf(prpty201,negated_conjecture,
( until276(Y)
| ~ succ(X,Y)
| ~ xuntil277(X) ) ).
cnf(prpty202,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil277(X) ) ).
cnf(prpty203,negated_conjecture,
( until2p278(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil277(X) ) ).
cnf(prpty204,negated_conjecture,
( node275(X)
| xuntil2p279(X)
| ~ until2p278(X) ) ).
cnf(prpty205,negated_conjecture,
( until2p278(Y)
| ~ succ(X,Y)
| ~ xuntil2p279(X) ) ).
cnf(prpty206,negated_conjecture,
( ~ last(X)
| ~ xuntil2p279(X) ) ).
cnf(prpty207,negated_conjecture,
( node189(X)
| until276(X)
| ~ node280(X) ) ).
cnf(prpty208,negated_conjecture,
( node280(X)
| xuntil282(X)
| ~ until281(X) ) ).
cnf(prpty209,negated_conjecture,
( until281(Y)
| ~ succ(X,Y)
| ~ xuntil282(X) ) ).
cnf(prpty210,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil282(X) ) ).
cnf(prpty211,negated_conjecture,
( until2p283(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil282(X) ) ).
cnf(prpty212,negated_conjecture,
( node280(X)
| xuntil2p284(X)
| ~ until2p283(X) ) ).
cnf(prpty213,negated_conjecture,
( until2p283(Y)
| ~ succ(X,Y)
| ~ xuntil2p284(X) ) ).
cnf(prpty214,negated_conjecture,
( ~ last(X)
| ~ xuntil2p284(X) ) ).
cnf(prpty215,negated_conjecture,
( node187(X)
| until281(X)
| ~ node285(X) ) ).
cnf(prpty216,negated_conjecture,
( node285(X)
| xuntil287(X)
| ~ until286(X) ) ).
cnf(prpty217,negated_conjecture,
( until286(Y)
| ~ succ(X,Y)
| ~ xuntil287(X) ) ).
cnf(prpty218,negated_conjecture,
( loop
| ~ last(X)
| ~ xuntil287(X) ) ).
cnf(prpty219,negated_conjecture,
( until2p288(Y)
| ~ trans(X,Y)
| ~ last(X)
| ~ xuntil287(X) ) ).
cnf(prpty220,negated_conjecture,
( node285(X)
| xuntil2p289(X)
| ~ until2p288(X) ) ).
cnf(prpty221,negated_conjecture,
( until2p288(Y)
| ~ succ(X,Y)
| ~ xuntil2p289(X) ) ).
cnf(prpty222,negated_conjecture,
( ~ last(X)
| ~ xuntil2p289(X) ) ).
cnf(prpty223,negated_conjecture,
until286(s0) ).
%------------------------------------------------------------------------------