diff --git a/.github/workflows/aries.yml b/.github/workflows/aries.yml
index f1c61d8e..249b2cfb 100644
--- a/.github/workflows/aries.yml
+++ b/.github/workflows/aries.yml
@@ -94,10 +94,26 @@ jobs:
         run: ./just ci-up-solve
       - name: Validator tests
         run: ./just ci-up-val
+
+
+  ipc-tests:
+    name: IPC Tests
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: dtolnay/rust-toolchain@stable
+      - name: Submodules initialization
+        run: git submodule update --init  # get our own copy of unified-planing repos
+      - name: Install python dependencies
+        run: python3 -m pip install -r planning/unified/requirements.txt "numpy<2"
+      - name: Install just
+        run: curl --proto '=https' --tlsv1.2 -sSf https://just.systems/install.sh | bash -s -- --to .
+      - name: Resolution
+        run: ./just ci-ipc
   
 
   tests: # Meta-job that only requires all test-jobs to pass
-    needs: [ lints, unit-tests, integration-tests, unified-planning-api, unified-planning-integration ]
+    needs: [ lints, unit-tests, integration-tests, unified-planning-api, unified-planning-integration, ipc-tests ]
     runs-on: ubuntu-latest
     steps:
       - run: true
diff --git a/ci/ipc.py b/ci/ipc.py
new file mode 100644
index 00000000..9a0b5eb3
--- /dev/null
+++ b/ci/ipc.py
@@ -0,0 +1,247 @@
+from pathlib import Path
+import re
+import subprocess  # nosec: B404
+import sys
+from tempfile import NamedTemporaryFile
+import time
+from typing import List, Optional, Tuple
+
+from unified_planning.engines.results import PlanGenerationResultStatus as Status
+from unified_planning.io.pddl_reader import PDDLReader
+from unified_planning.plans import Plan
+from unified_planning.shortcuts import OneshotPlanner
+
+
+# ============================================================================ #
+#                                   Constants                                  #
+# ============================================================================ #
+
+
+ESC_TABLE = {
+    "black": 30,
+    "red": 31,
+    "green": 32,
+    "yellow": 33,
+    "blue": 34,
+    "purple": 35,
+    "cyan": 36,
+    "white": 37,
+    "Black": 40,
+    "Red": 41,
+    "Green": 42,
+    "Yellow": 43,
+    "Blue": 44,
+    "Purple": 45,
+    "Cyan": 46,
+    "White": 47,
+    "bold": 1,
+    "light": 2,
+    "blink": 5,
+    "invert": 7,
+}
+VALID_STATUS = {Status.SOLVED_SATISFICING, Status.SOLVED_OPTIMALLY}
+
+
+# ============================================================================ #
+#                                     Utils                                    #
+# ============================================================================ #
+
+
+def write(text: str = "", **markup: bool) -> None:
+    """Write text with ANSI escape sequences for formatting."""
+    for name in markup:
+        if name not in ESC_TABLE:
+            raise ValueError(f"Unknown markup: {name}")
+    esc = [ESC_TABLE[name] for name, value in markup.items() if value]
+    if esc:
+        text = "".join(f"\x1b[{cod}m" for cod in esc) + text + "\x1b[0m"
+    print(text)
+
+
+def separator(
+    sep: str = "=",
+    title: Optional[str] = None,
+    width: int = 80,
+    before: str = "\n",
+    after: str = "\n",
+    **markup: bool,
+) -> None:
+    """Print a separator line with optional title."""
+    if title is None:
+        line = sep * (width // len(sep))
+    else:
+        n = max((width - len(title) - 2) // (2 * len(sep)), 1)
+        fill = sep * n
+        line = f"{fill} {title} {fill}"
+    if len(line) + len(sep.rstrip()) <= width:
+        line += sep.rstrip()
+    write(f"{before}{line}{after}", **markup)
+
+
+def big_separator(
+    sep: str = "=",
+    title: Optional[str] = None,
+    width: int = 80,
+    **markup: bool,
+):
+    """Print a big separator line with optional title."""
+    separator(sep=sep, title=None, width=width, before="\n", after="", **markup)
+    separator(sep=" ", title=title, width=width, before="", after="", **markup)
+    separator(sep=sep, title=None, width=width, before="", after="\n", **markup)
+
+
+# ============================================================================ #
+#                                  Validators                                  #
+# ============================================================================ #
+
+
+def extract_plan_for_val(plan: Plan, dom: Path, pb: Path, out: Path) -> None:
+    """Reformat a plan to be validated by Val."""
+
+    domain_content = dom.read_text()
+    problem_content = pb.read_text()
+
+    def fix_upf_shit(name: str) -> str:
+        name_alt = name.replace("-", "_")
+        if name in domain_content or name in problem_content:
+            return name
+        if name_alt in domain_content or name_alt in problem_content:
+            return name_alt
+        raise ValueError(f"Name {name} not found in domain or problem")
+
+    def format_line(line: str) -> str:
+        if line.startswith(";"):
+            return line
+
+        regex = r"^\s*(?:(?P<time>\d+\.\d+):\s?)?(?P<name>[\w-]+)(?:\((?P<params>[\w, -]+)\))?\s?(?:\[(?P<duration>\d+\.\d+)\])?"  # pylint:disable=line-too-long # noqa: E501
+        if not (match := re.match(regex, line)):
+            return line
+        groups = match.groupdict()
+
+        new_line = ""
+        if groups["time"]:
+            new_line += f"{groups['time']}: "
+        new_line += "("
+        new_line += fix_upf_shit(groups["name"])
+        if groups["params"]:
+            new_line += " " + " ".join(map(fix_upf_shit, groups["params"].split(", ")))
+        new_line += ")"
+        if groups["duration"]:
+            new_line += f" [{groups['duration']}]"
+        return new_line
+
+    lines = str(plan).splitlines()
+    out.write_text("\n".join(map(format_line, lines[1:])))
+
+
+def extract_max_depth(log_file: Path) -> int:
+    """Extract the max depth used by the planner from the logs."""
+    depth = 0
+    for line in log_file.read_text().splitlines():
+        if "Solving with depth" in line:
+            depth = int(line.split("Solving with depth")[-1])
+    return depth
+
+
+def validate_plan_with_val(pb: Path, dom: Path, plan: Path) -> bool:
+    """Validate a plan using Val."""
+    cmd = f"./planning/ext/val-pddl {dom.as_posix()} {pb.as_posix()} {plan.as_posix()}"
+    return subprocess.run(cmd, shell=True, check=False).returncode == 0  # nosec: B602
+
+
+# ============================================================================ #
+#                                     Main                                     #
+# ============================================================================ #
+
+
+pb_folders = Path(__file__).parent.parent / "planning/problems/upf"
+problems = sorted(pb_folders.iterdir(), key=lambda f: f.stem)
+
+valid: List[str] = []
+invalid: List[str] = []
+unsolved: List[Tuple[str, str]] = []
+
+try:
+    for i, folder in enumerate(problems):
+        separator(
+            title=f"Problem {folder.stem} ({i + 1}/{len(problems)})",
+            bold=True,
+            blue=True,
+        )
+
+        try:
+            domain = folder / "domain.pddl"
+            problem = folder / "problem.pddl"
+            upf_pb = PDDLReader().parse_problem(domain, problem)
+            max_depth = int((folder / "max_depth.txt").read_text())
+
+            with NamedTemporaryFile("w+", encoding="utf-8") as output:
+                with OneshotPlanner(
+                    name="aries",
+                    params={"max-depth": max_depth},
+                ) as planner:
+                    # Problem Kind
+                    write("Problem Kind", cyan=True)
+                    write(str(upf_pb.kind), light=True)
+                    write()
+
+                    # Unsupported features
+                    unsupported = upf_pb.kind.features.difference(
+                        planner.supported_kind().features
+                    )
+                    if unsupported:
+                        write("Unsupported Features", cyan=True)
+                        write("\n".join(unsupported), light=True)
+                        write()
+
+                    # Resolution
+                    start = time.time()
+                    result = planner.solve(upf_pb, output_stream=output)
+                    write("Resolution status", cyan=True)
+                    write(f"Elapsed time: {time.time() - start:.3f} s", light=True)
+                    write(f"Status: {result.status}", light=True)
+
+                    # Solved problem
+                    if result.status in VALID_STATUS:
+                        write("\nValidating plan by Val", cyan=True)
+                        out_path = Path(output.name)
+                        extract_plan_for_val(result.plan, domain, problem, out_path)
+                        if validate_plan_with_val(problem, domain, out_path):
+                            write("Plan is valid", bold=True, green=True)
+                            valid.append(folder.stem)
+                        else:
+                            write("Plan is invalid", bold=True, red=True)
+                            invalid.append(folder.stem)
+
+                    # Unsolved problem
+                    else:
+                        unsolved.append((folder.stem, result.status.name))
+                        write("Unsolved problem", bold=True, red=True)
+
+        except Exception as e:  # pylint: disable=broad-except
+            unsolved.append((folder.stem, "Error"))
+            write(f"Error: {e}", bold=True, red=True)
+
+except KeyboardInterrupt:
+    pass
+finally:
+    # Summary
+    if valid:
+        big_separator(title=f"Valid: {len(valid)}", bold=True, green=True)
+        for res in valid:
+            print(res)
+
+    if invalid:
+        big_separator(title=f"Invalid: {len(invalid)}", bold=True, red=True)
+        for res in invalid:
+            print(res)
+
+    if unsolved:
+        big_separator(title=f"Unsolved: {len(unsolved)}", bold=True, red=True)
+        offset = max(map(len, map(lambda t: t[0], unsolved))) + 3
+        for res, reason in unsolved:
+            print(f"{res:<{offset}} {reason}")
+
+    EXIT_CODE = 0 if not invalid and not unsolved else 1
+    big_separator(title=f"End with code {EXIT_CODE}", bold=True)
+    sys.exit(EXIT_CODE)
diff --git a/justfile b/justfile
index 41f9c7c6..f4d6ea9c 100644
--- a/justfile
+++ b/justfile
@@ -2,7 +2,7 @@
 set dotenv-load := true
 
 
-ci: ci-up-solve ci-up-val
+ci: ci-up-solve ci-up-val ci-ipc
 
 # Run planning tests for UP integration
 ci-up-solve:
@@ -12,6 +12,10 @@ ci-up-solve:
 ci-up-val:
     python3 planning/unified/deps/unified-planning/up_test_cases/report.py aries-val -e up_aries_tests
 
+# Run resolution tests on IPC problems
+ci-ipc:
+    ARIES_UP_ASSUME_REALS_ARE_INTS=true python3 ci/ipc.py
+
 # Solve a UP test case
 up-solve problem:
     python3 planning/unified/scripts/cli.py {{problem}}
diff --git a/planning/problems/upf/ipc1998-gripper-round1-strips/domain.pddl b/planning/problems/upf/ipc1998-gripper-round1-strips/domain.pddl
new file mode 100644
index 00000000..1bd569ec
--- /dev/null
+++ b/planning/problems/upf/ipc1998-gripper-round1-strips/domain.pddl
@@ -0,0 +1,16 @@
+(define (domain strips_gripper_x_1-domain)
+ (:requirements :strips :typing)
+ (:predicates (room ?r - object) (ball ?b - object) (gripper ?g - object) (at_robby ?r - object) (at_ ?b - object ?r - object) (free ?g - object) (carry ?o - object ?g - object))
+ (:action move
+  :parameters ( ?from - object ?to - object)
+  :precondition (and (room ?from) (room ?to) (at_robby ?from))
+  :effect (and (at_robby ?to) (not (at_robby ?from))))
+ (:action pick
+  :parameters ( ?obj - object ?room - object ?gripper - object)
+  :precondition (and (ball ?obj) (room ?room) (gripper ?gripper) (at_ ?obj ?room) (at_robby ?room) (free ?gripper))
+  :effect (and (carry ?obj ?gripper) (not (at_ ?obj ?room)) (not (free ?gripper))))
+ (:action drop
+  :parameters ( ?obj - object ?room - object ?gripper - object)
+  :precondition (and (ball ?obj) (room ?room) (gripper ?gripper) (carry ?obj ?gripper) (at_robby ?room))
+  :effect (and (at_ ?obj ?room) (free ?gripper) (not (carry ?obj ?gripper))))
+)
diff --git a/planning/problems/upf/ipc1998-gripper-round1-strips/max_depth.txt b/planning/problems/upf/ipc1998-gripper-round1-strips/max_depth.txt
new file mode 100644
index 00000000..bf0d87ab
--- /dev/null
+++ b/planning/problems/upf/ipc1998-gripper-round1-strips/max_depth.txt
@@ -0,0 +1 @@
+4
\ No newline at end of file
diff --git a/planning/problems/upf/ipc1998-gripper-round1-strips/problem.pddl b/planning/problems/upf/ipc1998-gripper-round1-strips/problem.pddl
new file mode 100644
index 00000000..325650cf
--- /dev/null
+++ b/planning/problems/upf/ipc1998-gripper-round1-strips/problem.pddl
@@ -0,0 +1,8 @@
+(define (problem strips_gripper_x_1-problem)
+ (:domain strips_gripper_x_1-domain)
+ (:objects
+   rooma roomb ball4 ball3 ball2 ball1 left right - object
+ )
+ (:init (room rooma) (room roomb) (ball ball4) (ball ball3) (ball ball2) (ball ball1) (at_robby rooma) (free left) (free right) (at_ ball4 rooma) (at_ ball3 rooma) (at_ ball2 rooma) (at_ ball1 rooma) (gripper left) (gripper right))
+ (:goal (and (at_ ball4 roomb) (at_ ball3 roomb) (at_ ball2 roomb) (at_ ball1 roomb)))
+)
diff --git a/planning/problems/upf/ipc1998-logistics-round2-strips/domain.pddl b/planning/problems/upf/ipc1998-logistics-round2-strips/domain.pddl
new file mode 100644
index 00000000..e45c05ae
--- /dev/null
+++ b/planning/problems/upf/ipc1998-logistics-round2-strips/domain.pddl
@@ -0,0 +1,28 @@
+(define (domain strips_log_y_1-domain)
+ (:requirements :strips :typing)
+ (:predicates (obj ?obj - object) (truck ?truck - object) (location ?loc - object) (airplane ?airplane - object) (city ?city - object) (airport ?airport - object) (at_ ?obj - object ?loc - object) (in ?obj1 - object ?obj2 - object) (in_city ?obj - object ?city - object))
+ (:action load_truck
+  :parameters ( ?obj - object ?truck - object ?loc - object)
+  :precondition (and (obj ?obj) (truck ?truck) (location ?loc) (at_ ?truck ?loc) (at_ ?obj ?loc))
+  :effect (and (not (at_ ?obj ?loc)) (in ?obj ?truck)))
+ (:action load_airplane
+  :parameters ( ?obj - object ?airplane - object ?loc - object)
+  :precondition (and (obj ?obj) (airplane ?airplane) (location ?loc) (at_ ?obj ?loc) (at_ ?airplane ?loc))
+  :effect (and (not (at_ ?obj ?loc)) (in ?obj ?airplane)))
+ (:action unload_truck
+  :parameters ( ?obj - object ?truck - object ?loc - object)
+  :precondition (and (obj ?obj) (truck ?truck) (location ?loc) (at_ ?truck ?loc) (in ?obj ?truck))
+  :effect (and (not (in ?obj ?truck)) (at_ ?obj ?loc)))
+ (:action unload_airplane
+  :parameters ( ?obj - object ?airplane - object ?loc - object)
+  :precondition (and (obj ?obj) (airplane ?airplane) (location ?loc) (in ?obj ?airplane) (at_ ?airplane ?loc))
+  :effect (and (not (in ?obj ?airplane)) (at_ ?obj ?loc)))
+ (:action drive_truck
+  :parameters ( ?truck - object ?loc_from - object ?loc_to - object ?city - object)
+  :precondition (and (truck ?truck) (location ?loc_from) (location ?loc_to) (city ?city) (at_ ?truck ?loc_from) (in_city ?loc_from ?city) (in_city ?loc_to ?city))
+  :effect (and (not (at_ ?truck ?loc_from)) (at_ ?truck ?loc_to)))
+ (:action fly_airplane
+  :parameters ( ?airplane - object ?loc_from - object ?loc_to - object)
+  :precondition (and (airplane ?airplane) (airport ?loc_from) (airport ?loc_to) (at_ ?airplane ?loc_from))
+  :effect (and (not (at_ ?airplane ?loc_from)) (at_ ?airplane ?loc_to)))
+)
diff --git a/planning/problems/upf/ipc1998-logistics-round2-strips/max_depth.txt b/planning/problems/upf/ipc1998-logistics-round2-strips/max_depth.txt
new file mode 100644
index 00000000..e440e5c8
--- /dev/null
+++ b/planning/problems/upf/ipc1998-logistics-round2-strips/max_depth.txt
@@ -0,0 +1 @@
+3
\ No newline at end of file
diff --git a/planning/problems/upf/ipc1998-logistics-round2-strips/problem.pddl b/planning/problems/upf/ipc1998-logistics-round2-strips/problem.pddl
new file mode 100644
index 00000000..fa768ede
--- /dev/null
+++ b/planning/problems/upf/ipc1998-logistics-round2-strips/problem.pddl
@@ -0,0 +1,8 @@
+(define (problem strips_log_y_1-problem)
+ (:domain strips_log_y_1-domain)
+ (:objects
+   package3 package2 package1 city5 city4 city3 city2 city1 truck5 truck4 truck3 truck2 truck1 plane2 plane1 city5_1 city4_1 city3_1 city2_1 city1_1 city5_2 city4_2 city3_2 city2_2 city1_2 - object
+ )
+ (:init (obj package3) (obj package2) (obj package1) (city city5) (city city4) (city city3) (city city2) (city city1) (truck truck5) (truck truck4) (truck truck3) (truck truck2) (truck truck1) (airplane plane2) (airplane plane1) (location city5_1) (location city4_1) (location city3_1) (location city2_1) (location city1_1) (airport city5_2) (location city5_2) (airport city4_2) (location city4_2) (airport city3_2) (location city3_2) (airport city2_2) (location city2_2) (airport city1_2) (location city1_2) (in_city city5_2 city5) (in_city city5_1 city5) (in_city city4_2 city4) (in_city city4_1 city4) (in_city city3_2 city3) (in_city city3_1 city3) (in_city city2_2 city2) (in_city city2_1 city2) (in_city city1_2 city1) (in_city city1_1 city1) (at_ plane2 city1_2) (at_ plane1 city2_2) (at_ truck5 city5_1) (at_ truck4 city4_1) (at_ truck3 city3_1) (at_ truck2 city2_1) (at_ truck1 city1_1) (at_ package3 city1_1) (at_ package2 city1_2) (at_ package1 city4_1))
+ (:goal (and (at_ package3 city1_2) (at_ package2 city1_1) (at_ package1 city3_2)))
+)
diff --git a/planning/problems/upf/ipc1998-movie-round1-strips/domain.pddl b/planning/problems/upf/ipc1998-movie-round1-strips/domain.pddl
new file mode 100644
index 00000000..28690e40
--- /dev/null
+++ b/planning/problems/upf/ipc1998-movie-round1-strips/domain.pddl
@@ -0,0 +1,59 @@
+(define (domain strips_movie_x_1-domain)
+  (:requirements :strips)
+  (:predicates
+    (movie_rewound)
+    (counter_at_two_hours)
+    (counter_at_other_than_two_hours)
+    (counter_at_zero)
+    (have_chips)
+    (have_dip)
+    (have_pop)
+    (have_cheese)
+    (have_crackers)
+    (chips ?x)
+    (dip ?x)
+    (pop ?x)
+    (cheese ?x)
+    (crackers ?x)
+  )
+  (:action rewind_movie_2
+    :parameters ()
+    :precondition (and (counter_at_two_hours))
+    :effect (and (movie_rewound))
+  )
+  (:action rewind_movie
+    :parameters ()
+    :precondition (and (counter_at_other_than_two_hours))
+    :effect (and (movie_rewound) (not (counter_at_zero)))
+  )
+  (:action reset_counter
+    :parameters ()
+    :precondition ()
+    :effect (and (counter_at_zero))
+  )
+  (:action get_chips
+    :parameters ( ?x)
+    :precondition (and (chips ?x))
+    :effect (and (have_chips))
+  )
+  (:action get_dip
+    :parameters ( ?x)
+    :precondition (and (dip ?x))
+    :effect (and (have_dip))
+  )
+  (:action get_pop
+    :parameters ( ?x)
+    :precondition (and (pop ?x))
+    :effect (and (have_pop))
+  )
+  (:action get_cheese
+    :parameters ( ?x)
+    :precondition (and (cheese ?x))
+    :effect (and (have_cheese))
+  )
+  (:action get_crackers
+    :parameters ( ?x)
+    :precondition (and (crackers ?x))
+    :effect (and (have_crackers))
+  )
+)
\ No newline at end of file
diff --git a/planning/problems/upf/ipc1998-movie-round1-strips/max_depth.txt b/planning/problems/upf/ipc1998-movie-round1-strips/max_depth.txt
new file mode 100644
index 00000000..56a6051c
--- /dev/null
+++ b/planning/problems/upf/ipc1998-movie-round1-strips/max_depth.txt
@@ -0,0 +1 @@
+1
\ No newline at end of file
diff --git a/planning/problems/upf/ipc1998-movie-round1-strips/problem.pddl b/planning/problems/upf/ipc1998-movie-round1-strips/problem.pddl
new file mode 100644
index 00000000..adb6325f
--- /dev/null
+++ b/planning/problems/upf/ipc1998-movie-round1-strips/problem.pddl
@@ -0,0 +1,37 @@
+(define (problem strips_movie_x_1-problem)
+  (:domain strips_movie_x_1-domain)
+  (:objects
+    c5 c4 c3 c2 c1 d5 d4 d3 d2 d1 p5 p4 p3 p2 p1 z5 z4 z3 z2 z1 k5 k4 k3 k2 k1
+  )
+  (:init
+    (chips c5)
+    (chips c4)
+    (chips c3)
+    (chips c2)
+    (chips c1)
+    (dip d5)
+    (dip d4)
+    (dip d3)
+    (dip d2)
+    (dip d1)
+    (pop p5)
+    (pop p4)
+    (pop p3)
+    (pop p2)
+    (pop p1)
+    (cheese z5)
+    (cheese z4)
+    (cheese z3)
+    (cheese z2)
+    (cheese z1)
+    (crackers k5)
+    (crackers k4)
+    (crackers k3)
+    (crackers k2)
+    (crackers k1)
+    (counter_at_other_than_two_hours)
+  )
+  (:goal
+    (and (movie_rewound) (counter_at_zero) (have_chips) (have_dip) (have_pop) (have_cheese) (have_crackers))
+  )
+)
\ No newline at end of file
diff --git a/planning/problems/upf/ipc1998-mystery-prime-round1-strips/domain.pddl b/planning/problems/upf/ipc1998-mystery-prime-round1-strips/domain.pddl
new file mode 100644
index 00000000..6d6c600b
--- /dev/null
+++ b/planning/problems/upf/ipc1998-mystery-prime-round1-strips/domain.pddl
@@ -0,0 +1,20 @@
+(define (domain strips_mprime_x_1-domain)
+ (:requirements :strips :typing :negative-preconditions :equality)
+ (:predicates (province ?x - object) (planet ?x - object) (food ?x - object) (pleasure ?x - object) (pain ?x - object) (eats ?n1 - object ?n2 - object) (craves ?v - object ?n - object) (fears ?c - object ?v - object) (locale ?n - object ?a - object) (harmony ?v - object ?s - object) (attacks ?i - object ?j - object) (orbits ?i - object ?j - object))
+ (:action overcome
+  :parameters ( ?c - object ?v - object ?n - object ?s1 - object ?s2 - object)
+  :precondition (and (pain ?c) (pleasure ?v) (craves ?c ?n) (craves ?v ?n) (food ?n) (harmony ?v ?s2) (planet ?s2) (orbits ?s1 ?s2) (planet ?s1))
+  :effect (and (not (craves ?c ?n)) (fears ?c ?v) (not (harmony ?v ?s2)) (harmony ?v ?s1)))
+ (:action feast
+  :parameters ( ?v - object ?n1 - object ?n2 - object ?l1 - object ?l2 - object)
+  :precondition (and (craves ?v ?n1) (food ?n1) (pleasure ?v) (eats ?n1 ?n2) (food ?n2) (locale ?n1 ?l2) (attacks ?l1 ?l2))
+  :effect (and (not (craves ?v ?n1)) (craves ?v ?n2) (not (locale ?n1 ?l2)) (locale ?n1 ?l1)))
+ (:action succumb
+  :parameters ( ?c - object ?v - object ?n - object ?s1 - object ?s2 - object)
+  :precondition (and (fears ?c ?v) (pain ?c) (pleasure ?v) (craves ?v ?n) (food ?n) (harmony ?v ?s1) (orbits ?s1 ?s2))
+  :effect (and (not (fears ?c ?v)) (craves ?c ?n) (not (harmony ?v ?s1)) (harmony ?v ?s2)))
+ (:action drink
+  :parameters ( ?n1 - object ?n2 - object ?l11 - object ?l12 - object ?l13 - object ?l21 - object ?l22 - object)
+  :precondition (and (not (= ?n1 ?n2)) (locale ?n1 ?l11) (attacks ?l12 ?l11) (attacks ?l13 ?l12) (locale ?n2 ?l21) (attacks ?l21 ?l22))
+  :effect (and (not (locale ?n1 ?l11)) (locale ?n1 ?l12) (not (locale ?n2 ?l21)) (locale ?n2 ?l22)))
+)
diff --git a/planning/problems/upf/ipc1998-mystery-prime-round1-strips/max_depth.txt b/planning/problems/upf/ipc1998-mystery-prime-round1-strips/max_depth.txt
new file mode 100644
index 00000000..e440e5c8
--- /dev/null
+++ b/planning/problems/upf/ipc1998-mystery-prime-round1-strips/max_depth.txt
@@ -0,0 +1 @@
+3
\ No newline at end of file
diff --git a/planning/problems/upf/ipc1998-mystery-prime-round1-strips/problem.pddl b/planning/problems/upf/ipc1998-mystery-prime-round1-strips/problem.pddl
new file mode 100644
index 00000000..87d5b328
--- /dev/null
+++ b/planning/problems/upf/ipc1998-mystery-prime-round1-strips/problem.pddl
@@ -0,0 +1,8 @@
+(define (problem strips_mprime_x_1-problem)
+ (:domain strips_mprime_x_1-domain)
+ (:objects
+   rice pear flounder okra pork lamb rest hangover depression abrasion kentucky bosnia surrey pennsylvania alsace quebec guanabara mars earth uranus venus - object
+ )
+ (:init (food rice) (food pear) (food flounder) (food okra) (food pork) (food lamb) (pleasure rest) (pain hangover) (pain depression) (pain abrasion) (province kentucky) (province bosnia) (province surrey) (province pennsylvania) (province alsace) (province quebec) (province guanabara) (planet mars) (planet earth) (planet uranus) (planet venus) (eats lamb pork) (eats pork okra) (locale okra guanabara) (locale pork quebec) (eats pork lamb) (harmony rest venus) (eats lamb flounder) (craves depression flounder) (eats okra pear) (eats rice rice) (eats rice flounder) (attacks kentucky bosnia) (attacks pennsylvania alsace) (attacks alsace quebec) (craves abrasion pork) (locale rice bosnia) (orbits mars earth) (eats flounder lamb) (craves rest pork) (orbits earth uranus) (locale pear surrey) (craves hangover rice) (attacks bosnia surrey) (attacks surrey pennsylvania) (locale lamb pennsylvania) (eats flounder rice) (eats rice pear) (attacks quebec guanabara) (eats pear okra) (eats pear rice) (eats okra pork) (orbits uranus venus) (locale flounder alsace))
+ (:goal (and (craves abrasion rice)))
+)
diff --git a/planning/problems/upf/ipc1998-mystery-prime-round2-strips/domain.pddl b/planning/problems/upf/ipc1998-mystery-prime-round2-strips/domain.pddl
new file mode 100644
index 00000000..1e3b0fb9
--- /dev/null
+++ b/planning/problems/upf/ipc1998-mystery-prime-round2-strips/domain.pddl
@@ -0,0 +1,20 @@
+(define (domain strips_mprime_y_1-domain)
+ (:requirements :strips :typing :negative-preconditions :equality)
+ (:predicates (province ?x - object) (planet ?x - object) (food ?x - object) (pleasure ?x - object) (pain ?x - object) (eats ?n1 - object ?n2 - object) (craves ?v - object ?n - object) (fears ?c - object ?v - object) (locale ?n - object ?a - object) (harmony ?v - object ?s - object) (attacks ?i - object ?j - object) (orbits ?i - object ?j - object))
+ (:action overcome
+  :parameters ( ?c - object ?v - object ?n - object ?s1 - object ?s2 - object)
+  :precondition (and (pain ?c) (pleasure ?v) (craves ?c ?n) (craves ?v ?n) (food ?n) (harmony ?v ?s2) (planet ?s2) (orbits ?s1 ?s2) (planet ?s1))
+  :effect (and (not (craves ?c ?n)) (fears ?c ?v) (not (harmony ?v ?s2)) (harmony ?v ?s1)))
+ (:action feast
+  :parameters ( ?v - object ?n1 - object ?n2 - object ?l1 - object ?l2 - object)
+  :precondition (and (craves ?v ?n1) (food ?n1) (pleasure ?v) (eats ?n1 ?n2) (food ?n2) (locale ?n1 ?l2) (attacks ?l1 ?l2))
+  :effect (and (not (craves ?v ?n1)) (craves ?v ?n2) (not (locale ?n1 ?l2)) (locale ?n1 ?l1)))
+ (:action succumb
+  :parameters ( ?c - object ?v - object ?n - object ?s1 - object ?s2 - object)
+  :precondition (and (fears ?c ?v) (pain ?c) (pleasure ?v) (craves ?v ?n) (food ?n) (harmony ?v ?s1) (orbits ?s1 ?s2))
+  :effect (and (not (fears ?c ?v)) (craves ?c ?n) (not (harmony ?v ?s1)) (harmony ?v ?s2)))
+ (:action drink
+  :parameters ( ?n1 - object ?n2 - object ?l11 - object ?l12 - object ?l13 - object ?l21 - object ?l22 - object)
+  :precondition (and (not (= ?n1 ?n2)) (locale ?n1 ?l11) (attacks ?l12 ?l11) (attacks ?l13 ?l12) (locale ?n2 ?l21) (attacks ?l21 ?l22))
+  :effect (and (not (locale ?n1 ?l11)) (locale ?n1 ?l12) (not (locale ?n2 ?l21)) (locale ?n2 ?l22)))
+)
diff --git a/planning/problems/upf/ipc1998-mystery-prime-round2-strips/max_depth.txt b/planning/problems/upf/ipc1998-mystery-prime-round2-strips/max_depth.txt
new file mode 100644
index 00000000..d8263ee9
--- /dev/null
+++ b/planning/problems/upf/ipc1998-mystery-prime-round2-strips/max_depth.txt
@@ -0,0 +1 @@
+2
\ No newline at end of file
diff --git a/planning/problems/upf/ipc1998-mystery-prime-round2-strips/problem.pddl b/planning/problems/upf/ipc1998-mystery-prime-round2-strips/problem.pddl
new file mode 100644
index 00000000..b052d02b
--- /dev/null
+++ b/planning/problems/upf/ipc1998-mystery-prime-round2-strips/problem.pddl
@@ -0,0 +1,8 @@
+(define (problem strips_mprime_y_1-problem)
+ (:domain strips_mprime_y_1-domain)
+ (:objects
+   grapefruit chocolate cantelope ham haroset snickers muffin chicken pistachio lemon bacon learning love rest intoxication expectation understanding triumph aesthetics prostatitis grief dread depression sciatica abrasion hangover loneliness anger angina alsace quebec kentucky earth saturn neptune mars - object
+ )
+ (:init (food grapefruit) (food chocolate) (food cantelope) (food ham) (food haroset) (food snickers) (food muffin) (food chicken) (food pistachio) (food lemon) (food bacon) (pleasure learning) (pleasure love) (pleasure rest) (pleasure intoxication) (pleasure expectation) (pleasure understanding) (pleasure triumph) (pleasure aesthetics) (pain prostatitis) (pain grief) (pain dread) (pain depression) (pain sciatica) (pain abrasion) (pain hangover) (pain loneliness) (pain anger) (pain angina) (province alsace) (province quebec) (province kentucky) (planet earth) (planet saturn) (planet neptune) (planet mars) (locale snickers kentucky) (craves rest haroset) (harmony expectation mars) (orbits saturn neptune) (craves expectation muffin) (eats snickers muffin) (eats ham muffin) (eats cantelope chocolate) (craves love ham) (craves grief grapefruit) (harmony triumph saturn) (eats lemon bacon) (craves triumph lemon) (eats muffin ham) (locale chocolate quebec) (eats cantelope bacon) (craves dread cantelope) (craves aesthetics bacon) (eats chocolate haroset) (eats haroset chocolate) (craves loneliness pistachio) (orbits earth saturn) (eats ham grapefruit) (eats grapefruit haroset) (craves hangover chicken) (eats chicken muffin) (locale muffin quebec) (craves learning grapefruit) (eats haroset grapefruit) (harmony understanding neptune) (craves anger lemon) (craves understanding chicken) (eats lemon pistachio) (attacks alsace quebec) (eats bacon chicken) (craves abrasion muffin) (eats chocolate cantelope) (attacks quebec kentucky) (harmony rest mars) (harmony learning saturn) (locale lemon alsace) (eats muffin snickers) (eats pistachio snickers) (eats pistachio lemon) (craves intoxication snickers) (harmony aesthetics neptune) (craves prostatitis grapefruit) (locale ham kentucky) (craves sciatica ham) (eats snickers pistachio) (eats muffin chicken) (locale grapefruit quebec) (locale bacon alsace) (craves angina lemon) (eats bacon cantelope) (locale haroset alsace) (eats grapefruit ham) (eats ham cantelope) (eats cantelope ham) (locale cantelope quebec) (locale chicken quebec) (harmony intoxication saturn) (orbits neptune mars) (eats chicken bacon) (eats bacon lemon) (craves depression cantelope) (locale pistachio alsace) (harmony love saturn))
+ (:goal (and (craves prostatitis cantelope)))
+)
diff --git a/planning/problems/upf/ipc1998-mystery-round1-strips/domain.pddl b/planning/problems/upf/ipc1998-mystery-round1-strips/domain.pddl
new file mode 100644
index 00000000..05b4856e
--- /dev/null
+++ b/planning/problems/upf/ipc1998-mystery-round1-strips/domain.pddl
@@ -0,0 +1,16 @@
+(define (domain strips_mysty_x_1-domain)
+ (:requirements :strips :typing)
+ (:predicates (province ?x - object) (planet ?x - object) (food ?x - object) (pleasure ?x - object) (pain ?x - object) (eats ?n1 - object ?n2 - object) (craves ?v - object ?n - object) (fears ?c - object ?v - object) (locale ?n - object ?a - object) (harmony ?v - object ?s - object) (attacks ?i - object ?j - object) (orbits ?i - object ?j - object))
+ (:action overcome
+  :parameters ( ?c - object ?v - object ?n - object ?s1 - object ?s2 - object)
+  :precondition (and (pain ?c) (pleasure ?v) (craves ?c ?n) (craves ?v ?n) (food ?n) (harmony ?v ?s2) (planet ?s2) (orbits ?s1 ?s2) (planet ?s1))
+  :effect (and (not (craves ?c ?n)) (fears ?c ?v) (not (harmony ?v ?s2)) (harmony ?v ?s1)))
+ (:action feast
+  :parameters ( ?v - object ?n1 - object ?n2 - object ?l1 - object ?l2 - object)
+  :precondition (and (craves ?v ?n1) (food ?n1) (pleasure ?v) (eats ?n1 ?n2) (food ?n2) (locale ?n1 ?l2) (attacks ?l1 ?l2))
+  :effect (and (not (craves ?v ?n1)) (craves ?v ?n2) (not (locale ?n1 ?l2)) (locale ?n1 ?l1)))
+ (:action succumb
+  :parameters ( ?c - object ?v - object ?n - object ?s1 - object ?s2 - object)
+  :precondition (and (fears ?c ?v) (pain ?c) (pleasure ?v) (craves ?v ?n) (food ?n) (harmony ?v ?s1) (orbits ?s1 ?s2))
+  :effect (and (not (fears ?c ?v)) (craves ?c ?n) (not (harmony ?v ?s1)) (harmony ?v ?s2)))
+)
diff --git a/planning/problems/upf/ipc1998-mystery-round1-strips/max_depth.txt b/planning/problems/upf/ipc1998-mystery-round1-strips/max_depth.txt
new file mode 100644
index 00000000..e440e5c8
--- /dev/null
+++ b/planning/problems/upf/ipc1998-mystery-round1-strips/max_depth.txt
@@ -0,0 +1 @@
+3
\ No newline at end of file
diff --git a/planning/problems/upf/ipc1998-mystery-round1-strips/problem.pddl b/planning/problems/upf/ipc1998-mystery-round1-strips/problem.pddl
new file mode 100644
index 00000000..5d61067a
--- /dev/null
+++ b/planning/problems/upf/ipc1998-mystery-round1-strips/problem.pddl
@@ -0,0 +1,8 @@
+(define (problem strips_mysty_x_1-problem)
+ (:domain strips_mysty_x_1-domain)
+ (:objects
+   rice pear flounder okra pork lamb rest hangover depression abrasion kentucky bosnia surrey pennsylvania alsace quebec guanabara mars earth uranus venus - object
+ )
+ (:init (food rice) (food pear) (food flounder) (food okra) (food pork) (food lamb) (pleasure rest) (pain hangover) (pain depression) (pain abrasion) (province kentucky) (province bosnia) (province surrey) (province pennsylvania) (province alsace) (province quebec) (province guanabara) (planet mars) (planet earth) (planet uranus) (planet venus) (eats lamb pork) (eats pork okra) (locale okra guanabara) (locale pork quebec) (eats pork lamb) (harmony rest venus) (eats lamb flounder) (craves depression flounder) (eats okra pear) (eats rice rice) (eats rice flounder) (attacks kentucky bosnia) (attacks pennsylvania alsace) (attacks alsace quebec) (craves abrasion pork) (locale rice bosnia) (orbits mars earth) (eats flounder lamb) (craves rest pork) (orbits earth uranus) (locale pear surrey) (craves hangover rice) (attacks bosnia surrey) (attacks surrey pennsylvania) (locale lamb pennsylvania) (eats flounder rice) (eats rice pear) (attacks quebec guanabara) (eats pear okra) (eats pear rice) (eats okra pork) (orbits uranus venus) (locale flounder alsace))
+ (:goal (and (craves abrasion rice)))
+)
diff --git a/planning/problems/upf/ipc2000-blocks-strips-typed/domain.pddl b/planning/problems/upf/ipc2000-blocks-strips-typed/domain.pddl
new file mode 100644
index 00000000..3acd4212
--- /dev/null
+++ b/planning/problems/upf/ipc2000-blocks-strips-typed/domain.pddl
@@ -0,0 +1,21 @@
+(define (domain blocks_4_0-domain)
+ (:requirements :strips :typing)
+ (:types block)
+ (:predicates (on ?x - block ?y - block) (ontable ?x - block) (clear ?x - block) (handempty) (holding ?x - block))
+ (:action pick_up
+  :parameters ( ?x - block)
+  :precondition (and (clear ?x) (ontable ?x) (handempty))
+  :effect (and (not (ontable ?x)) (not (clear ?x)) (not (handempty)) (holding ?x)))
+ (:action put_down
+  :parameters ( ?x - block)
+  :precondition (and (holding ?x))
+  :effect (and (not (holding ?x)) (clear ?x) (handempty) (ontable ?x)))
+ (:action stack
+  :parameters ( ?x - block ?y - block)
+  :precondition (and (holding ?x) (clear ?y))
+  :effect (and (not (holding ?x)) (not (clear ?y)) (clear ?x) (handempty) (on ?x ?y)))
+ (:action unstack
+  :parameters ( ?x - block ?y - block)
+  :precondition (and (on ?x ?y) (clear ?x) (handempty))
+  :effect (and (holding ?x) (clear ?y) (not (clear ?x)) (not (handempty)) (not (on ?x ?y))))
+)
diff --git a/planning/problems/upf/ipc2000-blocks-strips-typed/max_depth.txt b/planning/problems/upf/ipc2000-blocks-strips-typed/max_depth.txt
new file mode 100644
index 00000000..e440e5c8
--- /dev/null
+++ b/planning/problems/upf/ipc2000-blocks-strips-typed/max_depth.txt
@@ -0,0 +1 @@
+3
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2000-blocks-strips-typed/problem.pddl b/planning/problems/upf/ipc2000-blocks-strips-typed/problem.pddl
new file mode 100644
index 00000000..224215db
--- /dev/null
+++ b/planning/problems/upf/ipc2000-blocks-strips-typed/problem.pddl
@@ -0,0 +1,8 @@
+(define (problem blocks_4_0-problem)
+ (:domain blocks_4_0-domain)
+ (:objects
+   d b a c - block
+ )
+ (:init (clear c) (clear a) (clear b) (clear d) (ontable c) (ontable a) (ontable b) (ontable d) (handempty))
+ (:goal (and (on d c) (on c b) (on b a)))
+)
diff --git a/planning/problems/upf/ipc2000-blocks-strips-untyped/domain.pddl b/planning/problems/upf/ipc2000-blocks-strips-untyped/domain.pddl
new file mode 100644
index 00000000..361f21d0
--- /dev/null
+++ b/planning/problems/upf/ipc2000-blocks-strips-untyped/domain.pddl
@@ -0,0 +1,20 @@
+(define (domain blocks_4_0-domain)
+ (:requirements :strips :typing)
+ (:predicates (on ?x - object ?y - object) (ontable ?x - object) (clear ?x - object) (handempty) (holding ?x - object))
+ (:action pick_up
+  :parameters ( ?x - object)
+  :precondition (and (clear ?x) (ontable ?x) (handempty))
+  :effect (and (not (ontable ?x)) (not (clear ?x)) (not (handempty)) (holding ?x)))
+ (:action put_down
+  :parameters ( ?x - object)
+  :precondition (and (holding ?x))
+  :effect (and (not (holding ?x)) (clear ?x) (handempty) (ontable ?x)))
+ (:action stack
+  :parameters ( ?x - object ?y - object)
+  :precondition (and (holding ?x) (clear ?y))
+  :effect (and (not (holding ?x)) (not (clear ?y)) (clear ?x) (handempty) (on ?x ?y)))
+ (:action unstack
+  :parameters ( ?x - object ?y - object)
+  :precondition (and (on ?x ?y) (clear ?x) (handempty))
+  :effect (and (holding ?x) (clear ?y) (not (clear ?x)) (not (handempty)) (not (on ?x ?y))))
+)
diff --git a/planning/problems/upf/ipc2000-blocks-strips-untyped/max_depth.txt b/planning/problems/upf/ipc2000-blocks-strips-untyped/max_depth.txt
new file mode 100644
index 00000000..e440e5c8
--- /dev/null
+++ b/planning/problems/upf/ipc2000-blocks-strips-untyped/max_depth.txt
@@ -0,0 +1 @@
+3
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2000-blocks-strips-untyped/problem.pddl b/planning/problems/upf/ipc2000-blocks-strips-untyped/problem.pddl
new file mode 100644
index 00000000..40e0b2c3
--- /dev/null
+++ b/planning/problems/upf/ipc2000-blocks-strips-untyped/problem.pddl
@@ -0,0 +1,8 @@
+(define (problem blocks_4_0-problem)
+ (:domain blocks_4_0-domain)
+ (:objects
+   d b a c - object
+ )
+ (:init (clear c) (clear a) (clear b) (clear d) (ontable c) (ontable a) (ontable b) (ontable d) (handempty))
+ (:goal (and (on d c) (on c b) (on b a)))
+)
diff --git a/planning/problems/upf/ipc2000-elevator-strips-simple-typed/domain.pddl b/planning/problems/upf/ipc2000-elevator-strips-simple-typed/domain.pddl
new file mode 100644
index 00000000..deb8238a
--- /dev/null
+++ b/planning/problems/upf/ipc2000-elevator-strips-simple-typed/domain.pddl
@@ -0,0 +1,21 @@
+(define (domain mixed_f2_p1_u0_v0_g0_a0_n0_a0_b0_n0_f0_r0-domain)
+ (:requirements :strips :typing)
+ (:types passenger floor)
+ (:predicates (origin ?person - passenger ?floor - floor) (destin ?person - passenger ?floor - floor) (above ?floor1 - floor ?floor2 - floor) (boarded ?person - passenger) (not_boarded ?person - passenger) (served ?person - passenger) (not_served ?person - passenger) (lift_at ?floor - floor))
+ (:action board
+  :parameters ( ?f - floor ?p - passenger)
+  :precondition (and (lift_at ?f) (origin ?p ?f))
+  :effect (and (boarded ?p)))
+ (:action depart
+  :parameters ( ?f - floor ?p - passenger)
+  :precondition (and (lift_at ?f) (destin ?p ?f) (boarded ?p))
+  :effect (and (not (boarded ?p)) (served ?p)))
+ (:action up
+  :parameters ( ?f1 - floor ?f2 - floor)
+  :precondition (and (lift_at ?f1) (above ?f1 ?f2))
+  :effect (and (lift_at ?f2) (not (lift_at ?f1))))
+ (:action down
+  :parameters ( ?f1 - floor ?f2 - floor)
+  :precondition (and (lift_at ?f1) (above ?f2 ?f1))
+  :effect (and (lift_at ?f2) (not (lift_at ?f1))))
+)
diff --git a/planning/problems/upf/ipc2000-elevator-strips-simple-typed/max_depth.txt b/planning/problems/upf/ipc2000-elevator-strips-simple-typed/max_depth.txt
new file mode 100644
index 00000000..56a6051c
--- /dev/null
+++ b/planning/problems/upf/ipc2000-elevator-strips-simple-typed/max_depth.txt
@@ -0,0 +1 @@
+1
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2000-elevator-strips-simple-typed/problem.pddl b/planning/problems/upf/ipc2000-elevator-strips-simple-typed/problem.pddl
new file mode 100644
index 00000000..0727294e
--- /dev/null
+++ b/planning/problems/upf/ipc2000-elevator-strips-simple-typed/problem.pddl
@@ -0,0 +1,9 @@
+(define (problem mixed_f2_p1_u0_v0_g0_a0_n0_a0_b0_n0_f0_r0-problem)
+ (:domain mixed_f2_p1_u0_v0_g0_a0_n0_a0_b0_n0_f0_r0-domain)
+ (:objects
+   p0 - passenger
+   f0 f1 - floor
+ )
+ (:init (above f0 f1) (origin p0 f1) (destin p0 f0) (lift_at f0))
+ (:goal (and (served p0)))
+)
diff --git a/planning/problems/upf/ipc2000-elevator-strips-simple-untyped/domain.pddl b/planning/problems/upf/ipc2000-elevator-strips-simple-untyped/domain.pddl
new file mode 100644
index 00000000..b7c0f488
--- /dev/null
+++ b/planning/problems/upf/ipc2000-elevator-strips-simple-untyped/domain.pddl
@@ -0,0 +1,20 @@
+(define (domain mixed_f2_p1_u0_v0_g0_a0_n0_a0_b0_n0_f0_r0-domain)
+ (:requirements :strips :typing)
+ (:predicates (origin ?person - object ?floor - object) (floor ?floor - object) (passenger ?passenger - object) (destin ?person - object ?floor - object) (above ?floor1 - object ?floor2 - object) (boarded ?person - object) (served ?person - object) (lift_at ?floor - object))
+ (:action board
+  :parameters ( ?f - object ?p - object)
+  :precondition (and (floor ?f) (passenger ?p) (lift_at ?f) (origin ?p ?f))
+  :effect (and (boarded ?p)))
+ (:action depart
+  :parameters ( ?f - object ?p - object)
+  :precondition (and (floor ?f) (passenger ?p) (lift_at ?f) (destin ?p ?f) (boarded ?p))
+  :effect (and (not (boarded ?p)) (served ?p)))
+ (:action up
+  :parameters ( ?f1 - object ?f2 - object)
+  :precondition (and (floor ?f1) (floor ?f2) (lift_at ?f1) (above ?f1 ?f2))
+  :effect (and (lift_at ?f2) (not (lift_at ?f1))))
+ (:action down
+  :parameters ( ?f1 - object ?f2 - object)
+  :precondition (and (floor ?f1) (floor ?f2) (lift_at ?f1) (above ?f2 ?f1))
+  :effect (and (lift_at ?f2) (not (lift_at ?f1))))
+)
diff --git a/planning/problems/upf/ipc2000-elevator-strips-simple-untyped/max_depth.txt b/planning/problems/upf/ipc2000-elevator-strips-simple-untyped/max_depth.txt
new file mode 100644
index 00000000..56a6051c
--- /dev/null
+++ b/planning/problems/upf/ipc2000-elevator-strips-simple-untyped/max_depth.txt
@@ -0,0 +1 @@
+1
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2000-elevator-strips-simple-untyped/problem.pddl b/planning/problems/upf/ipc2000-elevator-strips-simple-untyped/problem.pddl
new file mode 100644
index 00000000..089e1445
--- /dev/null
+++ b/planning/problems/upf/ipc2000-elevator-strips-simple-untyped/problem.pddl
@@ -0,0 +1,8 @@
+(define (problem mixed_f2_p1_u0_v0_g0_a0_n0_a0_b0_n0_f0_r0-problem)
+ (:domain mixed_f2_p1_u0_v0_g0_a0_n0_a0_b0_n0_f0_r0-domain)
+ (:objects
+   p0 f0 f1 - object
+ )
+ (:init (passenger p0) (floor f0) (floor f1) (above f0 f1) (origin p0 f1) (destin p0 f0) (lift_at f0))
+ (:goal (and (served p0)))
+)
diff --git a/planning/problems/upf/ipc2000-freecell-strips-untyped/domain.pddl b/planning/problems/upf/ipc2000-freecell-strips-untyped/domain.pddl
new file mode 100644
index 00000000..952dfeac
--- /dev/null
+++ b/planning/problems/upf/ipc2000-freecell-strips-untyped/domain.pddl
@@ -0,0 +1,44 @@
+(define (domain freecell_2_1-domain)
+ (:requirements :strips :typing)
+ (:predicates (on ?c1 - object ?c2 - object) (incell ?c - object) (clear ?c - object) (cellspace ?n - object) (colspace ?n - object) (home ?c - object) (bottomcol ?c - object) (canstack ?c1 - object ?c2 - object) (suit ?c - object ?s - object) (value ?c - object ?v - object) (successor ?n1 - object ?n0 - object))
+ (:action move
+  :parameters ( ?card - object ?oldcard - object ?newcard - object)
+  :precondition (and (clear ?card) (clear ?newcard) (canstack ?card ?newcard) (on ?card ?oldcard))
+  :effect (and (on ?card ?newcard) (clear ?oldcard) (not (on ?card ?oldcard)) (not (clear ?newcard))))
+ (:action move_b
+  :parameters ( ?card - object ?newcard - object ?cols - object ?ncols - object)
+  :precondition (and (clear ?card) (bottomcol ?card) (clear ?newcard) (canstack ?card ?newcard) (colspace ?cols) (successor ?ncols ?cols))
+  :effect (and (on ?card ?newcard) (colspace ?ncols) (not (bottomcol ?card)) (not (clear ?newcard)) (not (colspace ?cols))))
+ (:action sendtofree
+  :parameters ( ?card - object ?oldcard - object ?cells - object ?ncells - object)
+  :precondition (and (clear ?card) (on ?card ?oldcard) (cellspace ?cells) (successor ?cells ?ncells))
+  :effect (and (incell ?card) (clear ?oldcard) (cellspace ?ncells) (not (on ?card ?oldcard)) (not (clear ?card)) (not (cellspace ?cells))))
+ (:action sendtofree_b
+  :parameters ( ?card - object ?cells - object ?ncells - object ?cols - object ?ncols - object)
+  :precondition (and (clear ?card) (bottomcol ?card) (cellspace ?cells) (successor ?cells ?ncells) (colspace ?cols) (successor ?ncols ?cols))
+  :effect (and (incell ?card) (colspace ?ncols) (cellspace ?ncells) (not (bottomcol ?card)) (not (clear ?card)) (not (colspace ?cols)) (not (cellspace ?cells))))
+ (:action sendtonewcol
+  :parameters ( ?card - object ?oldcard - object ?cols - object ?ncols - object)
+  :precondition (and (clear ?card) (colspace ?cols) (successor ?cols ?ncols) (on ?card ?oldcard))
+  :effect (and (bottomcol ?card) (clear ?oldcard) (colspace ?ncols) (not (on ?card ?oldcard)) (not (colspace ?cols))))
+ (:action sendtohome
+  :parameters ( ?card - object ?oldcard - object ?suit - object ?vcard - object ?homecard - object ?vhomecard - object)
+  :precondition (and (clear ?card) (on ?card ?oldcard) (home ?homecard) (suit ?card ?suit) (suit ?homecard ?suit) (value ?card ?vcard) (value ?homecard ?vhomecard) (successor ?vcard ?vhomecard))
+  :effect (and (home ?card) (clear ?oldcard) (not (on ?card ?oldcard)) (not (home ?homecard)) (not (clear ?card))))
+ (:action sendtohome_b
+  :parameters ( ?card - object ?suit - object ?vcard - object ?homecard - object ?vhomecard - object ?cols - object ?ncols - object)
+  :precondition (and (clear ?card) (bottomcol ?card) (home ?homecard) (suit ?card ?suit) (suit ?homecard ?suit) (value ?card ?vcard) (value ?homecard ?vhomecard) (successor ?vcard ?vhomecard) (colspace ?cols) (successor ?ncols ?cols))
+  :effect (and (home ?card) (colspace ?ncols) (not (home ?homecard)) (not (clear ?card)) (not (bottomcol ?card)) (not (colspace ?cols))))
+ (:action homefromfreecell
+  :parameters ( ?card - object ?suit - object ?vcard - object ?homecard - object ?vhomecard - object ?cells - object ?ncells - object)
+  :precondition (and (incell ?card) (home ?homecard) (suit ?card ?suit) (suit ?homecard ?suit) (value ?card ?vcard) (value ?homecard ?vhomecard) (successor ?vcard ?vhomecard) (cellspace ?cells) (successor ?ncells ?cells))
+  :effect (and (home ?card) (cellspace ?ncells) (not (incell ?card)) (not (cellspace ?cells)) (not (home ?homecard))))
+ (:action colfromfreecell
+  :parameters ( ?card - object ?newcard - object ?cells - object ?ncells - object)
+  :precondition (and (incell ?card) (clear ?newcard) (canstack ?card ?newcard) (cellspace ?cells) (successor ?ncells ?cells))
+  :effect (and (cellspace ?ncells) (clear ?card) (on ?card ?newcard) (not (incell ?card)) (not (cellspace ?cells)) (not (clear ?newcard))))
+ (:action newcolfromfreecell
+  :parameters ( ?card - object ?cols - object ?ncols - object ?cells - object ?ncells - object)
+  :precondition (and (incell ?card) (colspace ?cols) (cellspace ?cells) (successor ?cols ?ncols) (successor ?ncells ?cells))
+  :effect (and (bottomcol ?card) (clear ?card) (colspace ?ncols) (cellspace ?ncells) (not (incell ?card)) (not (colspace ?cols)) (not (cellspace ?cells))))
+)
diff --git a/planning/problems/upf/ipc2000-freecell-strips-untyped/max_depth.txt b/planning/problems/upf/ipc2000-freecell-strips-untyped/max_depth.txt
new file mode 100644
index 00000000..e440e5c8
--- /dev/null
+++ b/planning/problems/upf/ipc2000-freecell-strips-untyped/max_depth.txt
@@ -0,0 +1 @@
+3
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2000-freecell-strips-untyped/problem.pddl b/planning/problems/upf/ipc2000-freecell-strips-untyped/problem.pddl
new file mode 100644
index 00000000..80844a99
--- /dev/null
+++ b/planning/problems/upf/ipc2000-freecell-strips-untyped/problem.pddl
@@ -0,0 +1,8 @@
+(define (problem freecell_2_1-problem)
+ (:domain freecell_2_1-domain)
+ (:objects
+   s h d c n8 n7 n6 n5 n4 n3 n13 n12 n11 n9 n10 sa s2 s0 ha h2 h0 da d2 d0 n1 ca n2 c2 n0 c0 - object
+ )
+ (:init (value c0 n0) (value c2 n2) (value ca n1) (value d0 n0) (value d2 n2) (value da n1) (value h0 n0) (value h2 n2) (value ha n1) (value s0 n0) (value s2 n2) (value sa n1) (successor n1 n0) (successor n10 n9) (successor n11 n10) (successor n12 n11) (successor n13 n12) (successor n2 n1) (successor n3 n2) (successor n4 n3) (successor n5 n4) (successor n6 n5) (successor n7 n6) (successor n8 n7) (successor n9 n8) (suit c0 c) (suit c2 c) (suit ca c) (suit d0 d) (suit d2 d) (suit da d) (suit h0 h) (suit h2 h) (suit ha h) (suit s0 s) (suit s2 s) (suit sa s) (canstack ca d2) (canstack ca h2) (canstack da c2) (canstack da s2) (canstack ha c2) (canstack ha s2) (canstack sa d2) (canstack sa h2) (home c0) (home d0) (home h0) (home s0) (cellspace n4) (colspace n2) (on c2 ca) (on ca sa) (clear c2) (clear d2) (clear da) (clear h2) (clear ha) (clear s2) (bottomcol d2) (bottomcol da) (bottomcol h2) (bottomcol ha) (bottomcol s2) (bottomcol sa))
+ (:goal (and (home c2) (home d2) (home h2) (home s2)))
+)
diff --git a/planning/problems/upf/ipc2002-depots-strips-automatic/domain.pddl b/planning/problems/upf/ipc2002-depots-strips-automatic/domain.pddl
new file mode 100644
index 00000000..79dd3ffa
--- /dev/null
+++ b/planning/problems/upf/ipc2002-depots-strips-automatic/domain.pddl
@@ -0,0 +1,30 @@
+(define (domain depotprob1818-domain)
+ (:requirements :strips :typing)
+ (:types
+    place locatable - object
+    truck hoist surface - locatable
+    pallet crate - surface
+    depot distributor - place
+ )
+ (:predicates (at_ ?x - locatable ?y - place) (on ?x_0 - crate ?y_0 - surface) (in ?x_0 - crate ?y_1 - truck) (lifting ?x_1 - hoist ?y_2 - crate) (available ?x_1 - hoist) (clear ?x_2 - surface))
+ (:action drive
+  :parameters ( ?x_3 - truck ?y - place ?z - place)
+  :precondition (and (at_ ?x_3 ?y))
+  :effect (and (not (at_ ?x_3 ?y)) (at_ ?x_3 ?z)))
+ (:action lift
+  :parameters ( ?x_1 - hoist ?y_2 - crate ?z_0 - surface ?p - place)
+  :precondition (and (at_ ?x_1 ?p) (available ?x_1) (at_ ?y_2 ?p) (on ?y_2 ?z_0) (clear ?y_2))
+  :effect (and (not (at_ ?y_2 ?p)) (lifting ?x_1 ?y_2) (not (clear ?y_2)) (not (available ?x_1)) (clear ?z_0) (not (on ?y_2 ?z_0))))
+ (:action drop
+  :parameters ( ?x_1 - hoist ?y_2 - crate ?z_0 - surface ?p - place)
+  :precondition (and (at_ ?x_1 ?p) (at_ ?z_0 ?p) (clear ?z_0) (lifting ?x_1 ?y_2))
+  :effect (and (available ?x_1) (not (lifting ?x_1 ?y_2)) (at_ ?y_2 ?p) (not (clear ?z_0)) (clear ?y_2) (on ?y_2 ?z_0)))
+ (:action load
+  :parameters ( ?x_1 - hoist ?y_2 - crate ?z_1 - truck ?p - place)
+  :precondition (and (at_ ?x_1 ?p) (at_ ?z_1 ?p) (lifting ?x_1 ?y_2))
+  :effect (and (not (lifting ?x_1 ?y_2)) (in ?y_2 ?z_1) (available ?x_1)))
+ (:action unload
+  :parameters ( ?x_1 - hoist ?y_2 - crate ?z_1 - truck ?p - place)
+  :precondition (and (at_ ?x_1 ?p) (at_ ?z_1 ?p) (available ?x_1) (in ?y_2 ?z_1))
+  :effect (and (not (in ?y_2 ?z_1)) (not (available ?x_1)) (lifting ?x_1 ?y_2)))
+)
diff --git a/planning/problems/upf/ipc2002-depots-strips-automatic/max_depth.txt b/planning/problems/upf/ipc2002-depots-strips-automatic/max_depth.txt
new file mode 100644
index 00000000..d8263ee9
--- /dev/null
+++ b/planning/problems/upf/ipc2002-depots-strips-automatic/max_depth.txt
@@ -0,0 +1 @@
+2
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2002-depots-strips-automatic/problem.pddl b/planning/problems/upf/ipc2002-depots-strips-automatic/problem.pddl
new file mode 100644
index 00000000..f83206f8
--- /dev/null
+++ b/planning/problems/upf/ipc2002-depots-strips-automatic/problem.pddl
@@ -0,0 +1,13 @@
+(define (problem depotprob1818-problem)
+ (:domain depotprob1818-domain)
+ (:objects
+   depot0 - depot
+   distributor0 distributor1 - distributor
+   truck0 truck1 - truck
+   hoist0 hoist1 hoist2 - hoist
+   pallet0 pallet1 pallet2 - pallet
+   crate0 crate1 - crate
+ )
+ (:init (at_ pallet0 depot0) (clear crate1) (at_ pallet1 distributor0) (clear crate0) (at_ pallet2 distributor1) (clear pallet2) (at_ truck0 distributor1) (at_ truck1 depot0) (at_ hoist0 depot0) (available hoist0) (at_ hoist1 distributor0) (available hoist1) (at_ hoist2 distributor1) (available hoist2) (at_ crate0 distributor0) (on crate0 pallet1) (at_ crate1 depot0) (on crate1 pallet0))
+ (:goal (and (on crate0 pallet2) (on crate1 pallet1)))
+)
diff --git a/planning/problems/upf/ipc2002-depots-time-simple-automatic/domain.pddl b/planning/problems/upf/ipc2002-depots-time-simple-automatic/domain.pddl
new file mode 100644
index 00000000..6e7eb43c
--- /dev/null
+++ b/planning/problems/upf/ipc2002-depots-time-simple-automatic/domain.pddl
@@ -0,0 +1,35 @@
+(define (domain depotprob1818-domain)
+ (:requirements :strips :typing :durative-actions)
+ (:types
+    place locatable - object
+    truck hoist surface - locatable
+    pallet crate - surface
+    depot distributor - place
+ )
+ (:predicates (at_ ?x - locatable ?y - place) (on ?x_0 - crate ?y_0 - surface) (in ?x_0 - crate ?y_1 - truck) (lifting ?x_1 - hoist ?y_2 - crate) (available ?x_1 - hoist) (clear ?x_2 - surface))
+ (:durative-action drive
+  :parameters ( ?x_3 - truck ?y - place ?z - place)
+  :duration (= ?duration 10)
+  :condition (and (at start (at_ ?x_3 ?y)))
+  :effect (and (at start (not (at_ ?x_3 ?y))) (at end (at_ ?x_3 ?z))))
+ (:durative-action lift
+  :parameters ( ?x_1 - hoist ?y_2 - crate ?z_0 - surface ?p - place)
+  :duration (= ?duration 1)
+  :condition (and (over all (at_ ?x_1 ?p))(at start (available ?x_1))(at start (at_ ?y_2 ?p))(at start (on ?y_2 ?z_0))(at start (clear ?y_2)))
+  :effect (and (at start (not (at_ ?y_2 ?p))) (at start (lifting ?x_1 ?y_2)) (at start (not (clear ?y_2))) (at start (not (available ?x_1))) (at start (clear ?z_0)) (at start (not (on ?y_2 ?z_0)))))
+ (:durative-action drop
+  :parameters ( ?x_1 - hoist ?y_2 - crate ?z_0 - surface ?p - place)
+  :duration (= ?duration 1)
+  :condition (and (over all (at_ ?x_1 ?p))(over all (at_ ?z_0 ?p))(over all (clear ?z_0))(over all (lifting ?x_1 ?y_2)))
+  :effect (and (at end (available ?x_1)) (at end (not (lifting ?x_1 ?y_2))) (at end (at_ ?y_2 ?p)) (at end (not (clear ?z_0))) (at end (clear ?y_2)) (at end (on ?y_2 ?z_0))))
+ (:durative-action load
+  :parameters ( ?x_1 - hoist ?y_2 - crate ?z_1 - truck ?p - place)
+  :duration (= ?duration 3)
+  :condition (and (over all (at_ ?x_1 ?p))(over all (at_ ?z_1 ?p))(over all (lifting ?x_1 ?y_2)))
+  :effect (and (at end (not (lifting ?x_1 ?y_2))) (at end (in ?y_2 ?z_1)) (at end (available ?x_1))))
+ (:durative-action unload
+  :parameters ( ?x_1 - hoist ?y_2 - crate ?z_1 - truck ?p - place)
+  :duration (= ?duration 4)
+  :condition (and (over all (at_ ?x_1 ?p))(over all (at_ ?z_1 ?p))(at start (available ?x_1))(at start (in ?y_2 ?z_1)))
+  :effect (and (at start (not (in ?y_2 ?z_1))) (at start (not (available ?x_1))) (at start (lifting ?x_1 ?y_2))))
+)
diff --git a/planning/problems/upf/ipc2002-depots-time-simple-automatic/max_depth.txt b/planning/problems/upf/ipc2002-depots-time-simple-automatic/max_depth.txt
new file mode 100644
index 00000000..d8263ee9
--- /dev/null
+++ b/planning/problems/upf/ipc2002-depots-time-simple-automatic/max_depth.txt
@@ -0,0 +1 @@
+2
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2002-depots-time-simple-automatic/problem.pddl b/planning/problems/upf/ipc2002-depots-time-simple-automatic/problem.pddl
new file mode 100644
index 00000000..61930001
--- /dev/null
+++ b/planning/problems/upf/ipc2002-depots-time-simple-automatic/problem.pddl
@@ -0,0 +1,14 @@
+(define (problem depotprob1818-problem)
+ (:domain depotprob1818-domain)
+ (:objects
+   depot0 - depot
+   distributor0 distributor1 - distributor
+   truck0 truck1 - truck
+   hoist0 hoist1 hoist2 - hoist
+   pallet0 pallet1 pallet2 - pallet
+   crate0 crate1 - crate
+ )
+ (:init (at_ pallet0 depot0) (clear crate1) (at_ pallet1 distributor0) (clear crate0) (at_ pallet2 distributor1) (clear pallet2) (at_ truck0 distributor1) (at_ truck1 depot0) (at_ hoist0 depot0) (available hoist0) (at_ hoist1 distributor0) (available hoist1) (at_ hoist2 distributor1) (available hoist2) (at_ crate0 distributor0) (on crate0 pallet1) (at_ crate1 depot0) (on crate1 pallet0))
+ (:goal (and (on crate0 pallet2) (on crate1 pallet1)))
+ (:metric minimize (total-time))
+)
diff --git a/planning/problems/upf/ipc2002-driverlog-strips-automatic/domain.pddl b/planning/problems/upf/ipc2002-driverlog-strips-automatic/domain.pddl
new file mode 100644
index 00000000..d6476b20
--- /dev/null
+++ b/planning/problems/upf/ipc2002-driverlog-strips-automatic/domain.pddl
@@ -0,0 +1,32 @@
+(define (domain dlog_2_2_2-domain)
+ (:requirements :strips :typing)
+ (:types
+    location locatable - object
+    driver truck obj - locatable
+ )
+ (:predicates (at_ ?obj - locatable ?loc - location) (in ?obj1 - obj ?obj_0 - truck) (driving ?d - driver ?v - truck) (link ?x - location ?y - location) (path ?x - location ?y - location) (empty ?v - truck))
+ (:action load_truck
+  :parameters ( ?obj_1 - obj ?truck - truck ?loc - location)
+  :precondition (and (at_ ?truck ?loc) (at_ ?obj_1 ?loc))
+  :effect (and (not (at_ ?obj_1 ?loc)) (in ?obj_1 ?truck)))
+ (:action unload_truck
+  :parameters ( ?obj_1 - obj ?truck - truck ?loc - location)
+  :precondition (and (at_ ?truck ?loc) (in ?obj_1 ?truck))
+  :effect (and (not (in ?obj_1 ?truck)) (at_ ?obj_1 ?loc)))
+ (:action board_truck
+  :parameters ( ?driver - driver ?truck - truck ?loc - location)
+  :precondition (and (at_ ?truck ?loc) (at_ ?driver ?loc) (empty ?truck))
+  :effect (and (not (at_ ?driver ?loc)) (driving ?driver ?truck) (not (empty ?truck))))
+ (:action disembark_truck
+  :parameters ( ?driver - driver ?truck - truck ?loc - location)
+  :precondition (and (at_ ?truck ?loc) (driving ?driver ?truck))
+  :effect (and (not (driving ?driver ?truck)) (at_ ?driver ?loc) (empty ?truck)))
+ (:action drive_truck
+  :parameters ( ?truck - truck ?loc_from - location ?loc_to - location ?driver - driver)
+  :precondition (and (at_ ?truck ?loc_from) (driving ?driver ?truck) (link ?loc_from ?loc_to))
+  :effect (and (not (at_ ?truck ?loc_from)) (at_ ?truck ?loc_to)))
+ (:action walk
+  :parameters ( ?driver - driver ?loc_from - location ?loc_to - location)
+  :precondition (and (at_ ?driver ?loc_from) (path ?loc_from ?loc_to))
+  :effect (and (not (at_ ?driver ?loc_from)) (at_ ?driver ?loc_to)))
+)
diff --git a/planning/problems/upf/ipc2002-driverlog-strips-automatic/max_depth.txt b/planning/problems/upf/ipc2002-driverlog-strips-automatic/max_depth.txt
new file mode 100644
index 00000000..bf0d87ab
--- /dev/null
+++ b/planning/problems/upf/ipc2002-driverlog-strips-automatic/max_depth.txt
@@ -0,0 +1 @@
+4
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2002-driverlog-strips-automatic/problem.pddl b/planning/problems/upf/ipc2002-driverlog-strips-automatic/problem.pddl
new file mode 100644
index 00000000..17646d1b
--- /dev/null
+++ b/planning/problems/upf/ipc2002-driverlog-strips-automatic/problem.pddl
@@ -0,0 +1,11 @@
+(define (problem dlog_2_2_2-problem)
+ (:domain dlog_2_2_2-domain)
+ (:objects
+   s0 s1 s2 p1_0 p1_2 - location
+   driver1 driver2 - driver
+   truck1 truck2 - truck
+   package1 package2 - obj
+ )
+ (:init (at_ driver1 s2) (at_ driver2 s2) (at_ truck1 s0) (empty truck1) (at_ truck2 s0) (empty truck2) (at_ package1 s0) (at_ package2 s0) (path s1 p1_0) (path p1_0 s1) (path s0 p1_0) (path p1_0 s0) (path s1 p1_2) (path p1_2 s1) (path s2 p1_2) (path p1_2 s2) (link s0 s1) (link s1 s0) (link s0 s2) (link s2 s0) (link s2 s1) (link s1 s2))
+ (:goal (and (at_ driver1 s1) (at_ truck1 s1) (at_ package1 s0) (at_ package2 s0)))
+)
diff --git a/planning/problems/upf/ipc2002-driverlog-time-automatic/domain.pddl b/planning/problems/upf/ipc2002-driverlog-time-automatic/domain.pddl
new file mode 100644
index 00000000..4fd9fead
--- /dev/null
+++ b/planning/problems/upf/ipc2002-driverlog-time-automatic/domain.pddl
@@ -0,0 +1,39 @@
+(define (domain dlog_2_2_2-domain)
+ (:requirements :strips :typing :durative-actions)
+ (:types
+    location locatable - object
+    driver truck obj - locatable
+ )
+ (:predicates (at_ ?obj - locatable ?loc - location) (in ?obj1 - obj ?obj_0 - truck) (driving ?d - driver ?v - truck) (link ?x - location ?y - location) (path ?x - location ?y - location) (empty ?v - truck))
+ (:functions (time_to_walk ?loc - location ?loc1 - location) (time_to_drive ?loc - location ?loc1 - location))
+ (:durative-action load_truck
+  :parameters ( ?obj_1 - obj ?truck - truck ?loc - location)
+  :duration (= ?duration 2)
+  :condition (and (over all (at_ ?truck ?loc))(at start (at_ ?obj_1 ?loc)))
+  :effect (and (at start (not (at_ ?obj_1 ?loc))) (at end (in ?obj_1 ?truck))))
+ (:durative-action unload_truck
+  :parameters ( ?obj_1 - obj ?truck - truck ?loc - location)
+  :duration (= ?duration 2)
+  :condition (and (over all (at_ ?truck ?loc))(at start (in ?obj_1 ?truck)))
+  :effect (and (at start (not (in ?obj_1 ?truck))) (at end (at_ ?obj_1 ?loc))))
+ (:durative-action board_truck
+  :parameters ( ?driver - driver ?truck - truck ?loc - location)
+  :duration (= ?duration 1)
+  :condition (and (over all (at_ ?truck ?loc))(at start (at_ ?driver ?loc))(at start (empty ?truck)))
+  :effect (and (at start (not (at_ ?driver ?loc))) (at start (not (empty ?truck))) (at end (driving ?driver ?truck))))
+ (:durative-action disembark_truck
+  :parameters ( ?driver - driver ?truck - truck ?loc - location)
+  :duration (= ?duration 1)
+  :condition (and (over all (at_ ?truck ?loc))(at start (driving ?driver ?truck)))
+  :effect (and (at start (not (driving ?driver ?truck))) (at end (at_ ?driver ?loc)) (at end (empty ?truck))))
+ (:durative-action drive_truck
+  :parameters ( ?truck - truck ?loc_from - location ?loc_to - location ?driver - driver)
+  :duration (= ?duration (time_to_drive ?loc_from ?loc_to))
+  :condition (and (at start (at_ ?truck ?loc_from))(at start (link ?loc_from ?loc_to))(over all (driving ?driver ?truck)))
+  :effect (and (at start (not (at_ ?truck ?loc_from))) (at end (at_ ?truck ?loc_to))))
+ (:durative-action walk
+  :parameters ( ?driver - driver ?loc_from - location ?loc_to - location)
+  :duration (= ?duration (time_to_walk ?loc_from ?loc_to))
+  :condition (and (at start (at_ ?driver ?loc_from))(at start (path ?loc_from ?loc_to)))
+  :effect (and (at start (not (at_ ?driver ?loc_from))) (at end (at_ ?driver ?loc_to))))
+)
diff --git a/planning/problems/upf/ipc2002-driverlog-time-automatic/max_depth.txt b/planning/problems/upf/ipc2002-driverlog-time-automatic/max_depth.txt
new file mode 100644
index 00000000..bf0d87ab
--- /dev/null
+++ b/planning/problems/upf/ipc2002-driverlog-time-automatic/max_depth.txt
@@ -0,0 +1 @@
+4
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2002-driverlog-time-automatic/problem.pddl b/planning/problems/upf/ipc2002-driverlog-time-automatic/problem.pddl
new file mode 100644
index 00000000..4ec49309
--- /dev/null
+++ b/planning/problems/upf/ipc2002-driverlog-time-automatic/problem.pddl
@@ -0,0 +1,12 @@
+(define (problem dlog_2_2_2-problem)
+ (:domain dlog_2_2_2-domain)
+ (:objects
+   s0 s1 s2 p1_0 p1_2 - location
+   driver1 driver2 - driver
+   truck1 truck2 - truck
+   package1 package2 - obj
+ )
+ (:init (at_ driver1 s2) (at_ driver2 s2) (at_ truck1 s0) (empty truck1) (at_ truck2 s0) (empty truck2) (at_ package1 s0) (at_ package2 s0) (path s1 p1_0) (path p1_0 s1) (path s0 p1_0) (path p1_0 s0) (= (time_to_walk s1 p1_0) 43) (= (time_to_walk p1_0 s1) 43) (= (time_to_walk s0 p1_0) 80) (= (time_to_walk p1_0 s0) 80) (path s1 p1_2) (path p1_2 s1) (path s2 p1_2) (path p1_2 s2) (= (time_to_walk s1 p1_2) 29) (= (time_to_walk p1_2 s1) 29) (= (time_to_walk s2 p1_2) 79) (= (time_to_walk p1_2 s2) 79) (link s0 s1) (link s1 s0) (= (time_to_drive s0 s1) 70) (= (time_to_drive s1 s0) 70) (link s0 s2) (link s2 s0) (= (time_to_drive s0 s2) 47) (= (time_to_drive s2 s0) 47) (link s2 s1) (link s1 s2) (= (time_to_drive s2 s1) 24) (= (time_to_drive s1 s2) 24))
+ (:goal (and (at_ driver1 s1) (at_ truck1 s1) (at_ package1 s0) (at_ package2 s0)))
+ (:metric minimize (total-time))
+)
diff --git a/planning/problems/upf/ipc2002-driverlog-time-simple-automatic/domain.pddl b/planning/problems/upf/ipc2002-driverlog-time-simple-automatic/domain.pddl
new file mode 100644
index 00000000..61fd480c
--- /dev/null
+++ b/planning/problems/upf/ipc2002-driverlog-time-simple-automatic/domain.pddl
@@ -0,0 +1,38 @@
+(define (domain dlog_2_2_2-domain)
+ (:requirements :strips :typing :durative-actions)
+ (:types
+    location locatable - object
+    driver truck obj - locatable
+ )
+ (:predicates (at_ ?obj - locatable ?loc - location) (in ?obj1 - obj ?obj_0 - truck) (driving ?d - driver ?v - truck) (link ?x - location ?y - location) (path ?x - location ?y - location) (empty ?v - truck))
+ (:durative-action load_truck
+  :parameters ( ?obj_1 - obj ?truck - truck ?loc - location)
+  :duration (= ?duration 2)
+  :condition (and (over all (at_ ?truck ?loc))(at start (at_ ?obj_1 ?loc)))
+  :effect (and (at start (not (at_ ?obj_1 ?loc))) (at end (in ?obj_1 ?truck))))
+ (:durative-action unload_truck
+  :parameters ( ?obj_1 - obj ?truck - truck ?loc - location)
+  :duration (= ?duration 2)
+  :condition (and (over all (at_ ?truck ?loc))(at start (in ?obj_1 ?truck)))
+  :effect (and (at start (not (in ?obj_1 ?truck))) (at end (at_ ?obj_1 ?loc))))
+ (:durative-action board_truck
+  :parameters ( ?driver - driver ?truck - truck ?loc - location)
+  :duration (= ?duration 1)
+  :condition (and (over all (at_ ?truck ?loc))(at start (at_ ?driver ?loc))(at start (empty ?truck)))
+  :effect (and (at start (not (at_ ?driver ?loc))) (at start (not (empty ?truck))) (at end (driving ?driver ?truck))))
+ (:durative-action disembark_truck
+  :parameters ( ?driver - driver ?truck - truck ?loc - location)
+  :duration (= ?duration 1)
+  :condition (and (over all (at_ ?truck ?loc))(at start (driving ?driver ?truck)))
+  :effect (and (at start (not (driving ?driver ?truck))) (at end (at_ ?driver ?loc)) (at end (empty ?truck))))
+ (:durative-action drive_truck
+  :parameters ( ?truck - truck ?loc_from - location ?loc_to - location ?driver - driver)
+  :duration (= ?duration 10)
+  :condition (and (at start (at_ ?truck ?loc_from))(at start (link ?loc_from ?loc_to))(over all (driving ?driver ?truck)))
+  :effect (and (at start (not (at_ ?truck ?loc_from))) (at end (at_ ?truck ?loc_to))))
+ (:durative-action walk
+  :parameters ( ?driver - driver ?loc_from - location ?loc_to - location)
+  :duration (= ?duration 20)
+  :condition (and (at start (at_ ?driver ?loc_from))(at start (path ?loc_from ?loc_to)))
+  :effect (and (at start (not (at_ ?driver ?loc_from))) (at end (at_ ?driver ?loc_to))))
+)
diff --git a/planning/problems/upf/ipc2002-driverlog-time-simple-automatic/max_depth.txt b/planning/problems/upf/ipc2002-driverlog-time-simple-automatic/max_depth.txt
new file mode 100644
index 00000000..bf0d87ab
--- /dev/null
+++ b/planning/problems/upf/ipc2002-driverlog-time-simple-automatic/max_depth.txt
@@ -0,0 +1 @@
+4
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2002-driverlog-time-simple-automatic/problem.pddl b/planning/problems/upf/ipc2002-driverlog-time-simple-automatic/problem.pddl
new file mode 100644
index 00000000..fdfc5d5d
--- /dev/null
+++ b/planning/problems/upf/ipc2002-driverlog-time-simple-automatic/problem.pddl
@@ -0,0 +1,12 @@
+(define (problem dlog_2_2_2-problem)
+ (:domain dlog_2_2_2-domain)
+ (:objects
+   s0 s1 s2 p1_0 p1_2 - location
+   driver1 driver2 - driver
+   truck1 truck2 - truck
+   package1 package2 - obj
+ )
+ (:init (at_ driver1 s2) (at_ driver2 s2) (at_ truck1 s0) (empty truck1) (at_ truck2 s0) (empty truck2) (at_ package1 s0) (at_ package2 s0) (path s1 p1_0) (path p1_0 s1) (path s0 p1_0) (path p1_0 s0) (path s1 p1_2) (path p1_2 s1) (path s2 p1_2) (path p1_2 s2) (link s0 s1) (link s1 s0) (link s0 s2) (link s2 s0) (link s2 s1) (link s1 s2))
+ (:goal (and (at_ driver1 s1) (at_ truck1 s1) (at_ package1 s0) (at_ package2 s0)))
+ (:metric minimize (total-time))
+)
diff --git a/planning/problems/upf/ipc2002-rovers-time-simple-automatic/domain.pddl b/planning/problems/upf/ipc2002-rovers-time-simple-automatic/domain.pddl
new file mode 100644
index 00000000..c005e9c7
--- /dev/null
+++ b/planning/problems/upf/ipc2002-rovers-time-simple-automatic/domain.pddl
@@ -0,0 +1,50 @@
+(define (domain roverprob1234-domain)
+ (:requirements :strips :typing :durative-actions)
+ (:types rover waypoint store camera mode lander objective)
+ (:predicates (at_ ?x - rover ?y - waypoint) (at_lander ?x_0 - lander ?y - waypoint) (can_traverse ?r - rover ?x_1 - waypoint ?y - waypoint) (equipped_for_soil_analysis ?r - rover) (equipped_for_rock_analysis ?r - rover) (equipped_for_imaging ?r - rover) (empty ?s - store) (have_rock_analysis ?r - rover ?w - waypoint) (have_soil_analysis ?r - rover ?w - waypoint) (full ?s - store) (calibrated ?c - camera ?r - rover) (supports ?c - camera ?m - mode) (available ?r - rover) (visible ?w - waypoint ?p - waypoint) (have_image ?r - rover ?o - objective ?m - mode) (communicated_soil_data ?w - waypoint) (communicated_rock_data ?w - waypoint) (communicated_image_data ?o - objective ?m - mode) (at_soil_sample ?w - waypoint) (at_rock_sample ?w - waypoint) (visible_from ?o - objective ?w - waypoint) (store_of ?s - store ?r - rover) (calibration_target ?i - camera ?o - objective) (on_board ?i - camera ?r - rover) (channel_free ?l - lander))
+ (:durative-action navigate
+  :parameters ( ?x - rover ?y - waypoint ?z - waypoint)
+  :duration (= ?duration 5)
+  :condition (and (over all (can_traverse ?x ?y ?z))(over all (visible ?y ?z))(at start (available ?x))(at start (at_ ?x ?y)))
+  :effect (and (at start (not (at_ ?x ?y))) (at end (at_ ?x ?z))))
+ (:durative-action sample_soil
+  :parameters ( ?x - rover ?s - store ?p - waypoint)
+  :duration (= ?duration 10)
+  :condition (and (over all (at_ ?x ?p))(at start (at_ ?x ?p))(at start (at_soil_sample ?p))(at start (equipped_for_soil_analysis ?x))(at start (store_of ?s ?x))(at start (empty ?s)))
+  :effect (and (at start (not (empty ?s))) (at end (full ?s)) (at end (have_soil_analysis ?x ?p)) (at end (not (at_soil_sample ?p)))))
+ (:durative-action sample_rock
+  :parameters ( ?x - rover ?s - store ?p - waypoint)
+  :duration (= ?duration 8)
+  :condition (and (over all (at_ ?x ?p))(at start (at_ ?x ?p))(at start (at_rock_sample ?p))(at start (equipped_for_rock_analysis ?x))(at start (store_of ?s ?x))(at start (empty ?s)))
+  :effect (and (at start (not (empty ?s))) (at end (full ?s)) (at end (have_rock_analysis ?x ?p)) (at end (not (at_rock_sample ?p)))))
+ (:durative-action drop
+  :parameters ( ?x - rover ?y_0 - store)
+  :duration (= ?duration 1)
+  :condition (and (at start (store_of ?y_0 ?x))(at start (full ?y_0)))
+  :effect (and (at end (not (full ?y_0))) (at end (empty ?y_0))))
+ (:durative-action calibrate
+  :parameters ( ?r - rover ?i - camera ?t - objective ?w - waypoint)
+  :duration (= ?duration 5)
+  :condition (and (at start (equipped_for_imaging ?r))(at start (calibration_target ?i ?t))(at start (visible_from ?t ?w))(at start (on_board ?i ?r))(over all (at_ ?r ?w)))
+  :effect (and (at end (calibrated ?i ?r))))
+ (:durative-action take_image
+  :parameters ( ?r - rover ?p - waypoint ?o - objective ?i - camera ?m - mode)
+  :duration (= ?duration 7)
+  :condition (and (over all (calibrated ?i ?r))(over all (equipped_for_imaging ?r))(over all (supports ?i ?m))(over all (visible_from ?o ?p))(over all (at_ ?r ?p))(at start (on_board ?i ?r)))
+  :effect (and (at end (have_image ?r ?o ?m)) (at end (not (calibrated ?i ?r)))))
+ (:durative-action communicate_soil_data
+  :parameters ( ?r - rover ?l - lander ?p - waypoint ?x_1 - waypoint ?y - waypoint)
+  :duration (= ?duration 10)
+  :condition (and (over all (at_ ?r ?x_1))(over all (at_lander ?l ?y))(at start (have_soil_analysis ?r ?p))(at start (visible ?x_1 ?y))(at start (available ?r))(at start (channel_free ?l)))
+  :effect (and (at start (not (available ?r))) (at start (not (channel_free ?l))) (at end (channel_free ?l)) (at end (communicated_soil_data ?p)) (at end (available ?r))))
+ (:durative-action communicate_rock_data
+  :parameters ( ?r - rover ?l - lander ?p - waypoint ?x_1 - waypoint ?y - waypoint)
+  :duration (= ?duration 10)
+  :condition (and (over all (at_ ?r ?x_1))(over all (at_lander ?l ?y))(at start (have_rock_analysis ?r ?p))(at start (visible ?x_1 ?y))(at start (available ?r))(at start (channel_free ?l)))
+  :effect (and (at start (not (available ?r))) (at start (not (channel_free ?l))) (at end (channel_free ?l)) (at end (communicated_rock_data ?p)) (at end (available ?r))))
+ (:durative-action communicate_image_data
+  :parameters ( ?r - rover ?l - lander ?o - objective ?m - mode ?x_1 - waypoint ?y - waypoint)
+  :duration (= ?duration 15)
+  :condition (and (over all (at_ ?r ?x_1))(over all (at_lander ?l ?y))(at start (have_image ?r ?o ?m))(at start (visible ?x_1 ?y))(at start (available ?r))(at start (channel_free ?l)))
+  :effect (and (at start (not (available ?r))) (at start (not (channel_free ?l))) (at end (channel_free ?l)) (at end (communicated_image_data ?o ?m)) (at end (available ?r))))
+)
diff --git a/planning/problems/upf/ipc2002-rovers-time-simple-automatic/max_depth.txt b/planning/problems/upf/ipc2002-rovers-time-simple-automatic/max_depth.txt
new file mode 100644
index 00000000..d8263ee9
--- /dev/null
+++ b/planning/problems/upf/ipc2002-rovers-time-simple-automatic/max_depth.txt
@@ -0,0 +1 @@
+2
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2002-rovers-time-simple-automatic/problem.pddl b/planning/problems/upf/ipc2002-rovers-time-simple-automatic/problem.pddl
new file mode 100644
index 00000000..790d4885
--- /dev/null
+++ b/planning/problems/upf/ipc2002-rovers-time-simple-automatic/problem.pddl
@@ -0,0 +1,15 @@
+(define (problem roverprob1234-problem)
+ (:domain roverprob1234-domain)
+ (:objects
+   rover0 - rover
+   waypoint0 waypoint1 waypoint2 waypoint3 - waypoint
+   rover0store - store
+   camera0 - camera
+   colour high_res low_res - mode
+   general - lander
+   objective0 objective1 - objective
+ )
+ (:init (visible waypoint1 waypoint0) (visible waypoint0 waypoint1) (visible waypoint2 waypoint0) (visible waypoint0 waypoint2) (visible waypoint2 waypoint1) (visible waypoint1 waypoint2) (visible waypoint3 waypoint0) (visible waypoint0 waypoint3) (visible waypoint3 waypoint1) (visible waypoint1 waypoint3) (visible waypoint3 waypoint2) (visible waypoint2 waypoint3) (at_soil_sample waypoint0) (at_rock_sample waypoint1) (at_soil_sample waypoint2) (at_rock_sample waypoint2) (at_soil_sample waypoint3) (at_rock_sample waypoint3) (at_lander general waypoint0) (channel_free general) (at_ rover0 waypoint3) (available rover0) (store_of rover0store rover0) (empty rover0store) (equipped_for_soil_analysis rover0) (equipped_for_rock_analysis rover0) (equipped_for_imaging rover0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint2 waypoint1) (on_board camera0 rover0) (calibration_target camera0 objective1) (supports camera0 colour) (supports camera0 high_res) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3))
+ (:goal (and (communicated_soil_data waypoint2) (communicated_rock_data waypoint3) (communicated_image_data objective1 high_res)))
+ (:metric minimize (total-time))
+)
diff --git a/planning/problems/upf/ipc2002-satellite-strips-automatic/domain.pddl b/planning/problems/upf/ipc2002-satellite-strips-automatic/domain.pddl
new file mode 100644
index 00000000..5e6d8652
--- /dev/null
+++ b/planning/problems/upf/ipc2002-satellite-strips-automatic/domain.pddl
@@ -0,0 +1,25 @@
+(define (domain strips_sat_x_1-domain)
+ (:requirements :strips :typing :negative-preconditions :equality)
+ (:types satellite direction instrument mode)
+ (:predicates (on_board ?i - instrument ?s - satellite) (supports ?i - instrument ?m - mode) (pointing ?s - satellite ?d - direction) (power_avail ?s - satellite) (power_on ?i - instrument) (calibrated ?i - instrument) (have_image ?d - direction ?m - mode) (calibration_target ?i - instrument ?d - direction))
+ (:action turn_to
+  :parameters ( ?s - satellite ?d_new - direction ?d_prev - direction)
+  :precondition (and (pointing ?s ?d_prev) (not (= ?d_new ?d_prev)))
+  :effect (and (pointing ?s ?d_new) (not (pointing ?s ?d_prev))))
+ (:action switch_on
+  :parameters ( ?i - instrument ?s - satellite)
+  :precondition (and (on_board ?i ?s) (power_avail ?s))
+  :effect (and (power_on ?i) (not (calibrated ?i)) (not (power_avail ?s))))
+ (:action switch_off
+  :parameters ( ?i - instrument ?s - satellite)
+  :precondition (and (on_board ?i ?s) (power_on ?i))
+  :effect (and (not (power_on ?i)) (power_avail ?s)))
+ (:action calibrate
+  :parameters ( ?s - satellite ?i - instrument ?d - direction)
+  :precondition (and (on_board ?i ?s) (calibration_target ?i ?d) (pointing ?s ?d) (power_on ?i))
+  :effect (and (calibrated ?i)))
+ (:action take_image
+  :parameters ( ?s - satellite ?d - direction ?i - instrument ?m - mode)
+  :precondition (and (calibrated ?i) (on_board ?i ?s) (supports ?i ?m) (power_on ?i) (pointing ?s ?d))
+  :effect (and (have_image ?d ?m)))
+)
diff --git a/planning/problems/upf/ipc2002-satellite-strips-automatic/max_depth.txt b/planning/problems/upf/ipc2002-satellite-strips-automatic/max_depth.txt
new file mode 100644
index 00000000..bf0d87ab
--- /dev/null
+++ b/planning/problems/upf/ipc2002-satellite-strips-automatic/max_depth.txt
@@ -0,0 +1 @@
+4
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2002-satellite-strips-automatic/problem.pddl b/planning/problems/upf/ipc2002-satellite-strips-automatic/problem.pddl
new file mode 100644
index 00000000..889b46ce
--- /dev/null
+++ b/planning/problems/upf/ipc2002-satellite-strips-automatic/problem.pddl
@@ -0,0 +1,11 @@
+(define (problem strips_sat_x_1-problem)
+ (:domain strips_sat_x_1-domain)
+ (:objects
+   satellite0 - satellite
+   star0 groundstation1 groundstation2 phenomenon3 phenomenon4 star5 phenomenon6 - direction
+   instrument0 - instrument
+   image1 spectrograph2 thermograph0 - mode
+ )
+ (:init (supports instrument0 thermograph0) (calibration_target instrument0 groundstation2) (on_board instrument0 satellite0) (power_avail satellite0) (pointing satellite0 phenomenon6))
+ (:goal (and (have_image phenomenon4 thermograph0) (have_image star5 thermograph0) (have_image phenomenon6 thermograph0)))
+)
diff --git a/planning/problems/upf/ipc2002-satellite-time-simple-automatic/domain.pddl b/planning/problems/upf/ipc2002-satellite-time-simple-automatic/domain.pddl
new file mode 100644
index 00000000..4943ec00
--- /dev/null
+++ b/planning/problems/upf/ipc2002-satellite-time-simple-automatic/domain.pddl
@@ -0,0 +1,30 @@
+(define (domain strips_sat_x_1-domain)
+ (:requirements :strips :typing :negative-preconditions :equality :durative-actions)
+ (:types satellite direction instrument mode)
+ (:predicates (on_board ?i - instrument ?s - satellite) (supports ?i - instrument ?m - mode) (pointing ?s - satellite ?d - direction) (power_avail ?s - satellite) (power_on ?i - instrument) (calibrated ?i - instrument) (have_image ?d - direction ?m - mode) (calibration_target ?i - instrument ?d - direction))
+ (:durative-action turn_to
+  :parameters ( ?s - satellite ?d_new - direction ?d_prev - direction)
+  :duration (= ?duration 5)
+  :condition (and (at start (pointing ?s ?d_prev))(over all (not (= ?d_new ?d_prev))))
+  :effect (and (at end (pointing ?s ?d_new)) (at start (not (pointing ?s ?d_prev)))))
+ (:durative-action switch_on
+  :parameters ( ?i - instrument ?s - satellite)
+  :duration (= ?duration 2)
+  :condition (and (over all (on_board ?i ?s))(at start (power_avail ?s)))
+  :effect (and (at end (power_on ?i)) (at start (not (calibrated ?i))) (at start (not (power_avail ?s)))))
+ (:durative-action switch_off
+  :parameters ( ?i - instrument ?s - satellite)
+  :duration (= ?duration 1)
+  :condition (and (over all (on_board ?i ?s))(at start (power_on ?i)))
+  :effect (and (at start (not (power_on ?i))) (at end (power_avail ?s))))
+ (:durative-action calibrate
+  :parameters ( ?s - satellite ?i - instrument ?d - direction)
+  :duration (= ?duration 5)
+  :condition (and (over all (on_board ?i ?s))(over all (calibration_target ?i ?d))(over all (power_on ?i))(at start (pointing ?s ?d))(at end (power_on ?i)))
+  :effect (and (at end (calibrated ?i))))
+ (:durative-action take_image
+  :parameters ( ?s - satellite ?d - direction ?i - instrument ?m - mode)
+  :duration (= ?duration 7)
+  :condition (and (over all (calibrated ?i))(over all (on_board ?i ?s))(over all (supports ?i ?m))(over all (power_on ?i))(over all (pointing ?s ?d))(at end (power_on ?i)))
+  :effect (and (at end (have_image ?d ?m))))
+)
diff --git a/planning/problems/upf/ipc2002-satellite-time-simple-automatic/max_depth.txt b/planning/problems/upf/ipc2002-satellite-time-simple-automatic/max_depth.txt
new file mode 100644
index 00000000..bf0d87ab
--- /dev/null
+++ b/planning/problems/upf/ipc2002-satellite-time-simple-automatic/max_depth.txt
@@ -0,0 +1 @@
+4
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2002-satellite-time-simple-automatic/problem.pddl b/planning/problems/upf/ipc2002-satellite-time-simple-automatic/problem.pddl
new file mode 100644
index 00000000..dedc18c5
--- /dev/null
+++ b/planning/problems/upf/ipc2002-satellite-time-simple-automatic/problem.pddl
@@ -0,0 +1,12 @@
+(define (problem strips_sat_x_1-problem)
+ (:domain strips_sat_x_1-domain)
+ (:objects
+   satellite0 - satellite
+   star0 groundstation1 groundstation2 phenomenon3 phenomenon4 star5 phenomenon6 - direction
+   instrument0 - instrument
+   image1 spectrograph2 thermograph0 - mode
+ )
+ (:init (supports instrument0 thermograph0) (calibration_target instrument0 groundstation2) (on_board instrument0 satellite0) (power_avail satellite0) (pointing satellite0 phenomenon6))
+ (:goal (and (have_image phenomenon4 thermograph0) (have_image star5 thermograph0) (have_image phenomenon6 thermograph0)))
+ (:metric minimize (total-time))
+)
diff --git a/planning/problems/upf/ipc2004-airport-nontemporal-strips/domain.pddl b/planning/problems/upf/ipc2004-airport-nontemporal-strips/domain.pddl
new file mode 100644
index 00000000..98b4b6f4
--- /dev/null
+++ b/planning/problems/upf/ipc2004-airport-nontemporal-strips/domain.pddl
@@ -0,0 +1,167 @@
+(define (domain problem_x-domain)
+ (:requirements :strips :typing)
+ (:types airplane segment direction airplanetype)
+ (:constants
+   medium - airplanetype
+   south north - direction
+   seg_pp_0_60 seg_tww4_0_50 seg_rw_0_400 seg_twe1_0_200 seg_tww1_0_200 seg_twe3_0_50 seg_tww3_0_50 seg_rwte1_0_10 seg_tww2_0_50 seg_twe2_0_50 seg_rwe_0_50 seg_rww_0_50 seg_twe4_0_50 seg_ppdoor_0_40 seg_rwtw1_0_10 - segment
+   airplane_cfbeg - airplane
+ )
+ (:predicates (has_type ?a - airplane ?t - airplanetype) (at_segment ?a - airplane ?s - segment) (facing ?a - airplane ?d - direction) (occupied ?s - segment) (not_occupied ?s - segment) (blocked ?s - segment ?a - airplane) (not_blocked ?s - segment ?a - airplane) (is_start_runway ?s - segment ?d - direction) (airborne ?a - airplane ?s - segment) (is_moving ?a - airplane) (is_pushing ?a - airplane) (is_parked ?a - airplane ?s - segment))
+ (:action move_seg_pp_0_60_seg_ppdoor_0_40_north_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a north) (at_segment ?a seg_pp_0_60) (not_occupied seg_ppdoor_0_40) (not_blocked seg_ppdoor_0_40 airplane_cfbeg))
+  :effect (and (not (occupied seg_pp_0_60)) (not_occupied seg_pp_0_60) (not (at_segment ?a seg_pp_0_60)) (occupied seg_ppdoor_0_40) (not (not_occupied seg_ppdoor_0_40)) (blocked seg_ppdoor_0_40 ?a) (not (not_blocked seg_ppdoor_0_40 ?a)) (at_segment ?a seg_ppdoor_0_40)))
+ (:action move_seg_ppdoor_0_40_seg_tww1_0_200_north_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a north) (at_segment ?a seg_ppdoor_0_40) (not_occupied seg_tww1_0_200) (not_blocked seg_tww1_0_200 airplane_cfbeg) (not_occupied seg_twe1_0_200))
+  :effect (and (not (occupied seg_ppdoor_0_40)) (not_occupied seg_ppdoor_0_40) (not (at_segment ?a seg_ppdoor_0_40)) (occupied seg_tww1_0_200) (not (not_occupied seg_tww1_0_200)) (blocked seg_tww1_0_200 ?a) (not (not_blocked seg_tww1_0_200 ?a)) (at_segment ?a seg_tww1_0_200) (not (facing ?a north)) (facing ?a south) (not (blocked seg_pp_0_60 ?a)) (not_blocked seg_pp_0_60 ?a) (blocked seg_twe1_0_200 ?a) (not (not_blocked seg_twe1_0_200 ?a))))
+ (:action move_seg_tww1_0_200_seg_twe1_0_200_north_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a north) (at_segment ?a seg_tww1_0_200) (not_occupied seg_twe1_0_200) (not_blocked seg_twe1_0_200 airplane_cfbeg) (not_occupied seg_ppdoor_0_40))
+  :effect (and (not (occupied seg_tww1_0_200)) (not_occupied seg_tww1_0_200) (not (at_segment ?a seg_tww1_0_200)) (occupied seg_twe1_0_200) (not (not_occupied seg_twe1_0_200)) (blocked seg_twe1_0_200 ?a) (not (not_blocked seg_twe1_0_200 ?a)) (at_segment ?a seg_twe1_0_200) (not (facing ?a north)) (facing ?a south) (not (blocked seg_tww2_0_50 ?a)) (not_blocked seg_tww2_0_50 ?a) (blocked seg_ppdoor_0_40 ?a) (not (not_blocked seg_ppdoor_0_40 ?a))))
+ (:action move_seg_twe1_0_200_seg_twe2_0_50_south_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a south) (at_segment ?a seg_twe1_0_200) (not_occupied seg_twe2_0_50) (not_blocked seg_twe2_0_50 airplane_cfbeg))
+  :effect (and (not (occupied seg_twe1_0_200)) (not_occupied seg_twe1_0_200) (not (at_segment ?a seg_twe1_0_200)) (occupied seg_twe2_0_50) (not (not_occupied seg_twe2_0_50)) (blocked seg_twe2_0_50 ?a) (not (not_blocked seg_twe2_0_50 ?a)) (at_segment ?a seg_twe2_0_50) (not (blocked seg_ppdoor_0_40 ?a)) (not_blocked seg_ppdoor_0_40 ?a) (not (blocked seg_tww1_0_200 ?a)) (not_blocked seg_tww1_0_200 ?a)))
+ (:action move_seg_twe2_0_50_seg_twe3_0_50_south_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a south) (at_segment ?a seg_twe2_0_50) (not_occupied seg_twe3_0_50) (not_blocked seg_twe3_0_50 airplane_cfbeg))
+  :effect (and (not (occupied seg_twe2_0_50)) (not_occupied seg_twe2_0_50) (not (at_segment ?a seg_twe2_0_50)) (occupied seg_twe3_0_50) (not (not_occupied seg_twe3_0_50)) (blocked seg_twe3_0_50 ?a) (not (not_blocked seg_twe3_0_50 ?a)) (at_segment ?a seg_twe3_0_50) (not (blocked seg_twe1_0_200 ?a)) (not_blocked seg_twe1_0_200 ?a)))
+ (:action move_seg_twe3_0_50_seg_twe4_0_50_south_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a south) (at_segment ?a seg_twe3_0_50) (not_occupied seg_twe4_0_50) (not_blocked seg_twe4_0_50 airplane_cfbeg))
+  :effect (and (not (occupied seg_twe3_0_50)) (not_occupied seg_twe3_0_50) (not (at_segment ?a seg_twe3_0_50)) (occupied seg_twe4_0_50) (not (not_occupied seg_twe4_0_50)) (blocked seg_twe4_0_50 ?a) (not (not_blocked seg_twe4_0_50 ?a)) (at_segment ?a seg_twe4_0_50) (not (blocked seg_twe2_0_50 ?a)) (not_blocked seg_twe2_0_50 ?a)))
+ (:action move_seg_twe4_0_50_seg_rwe_0_50_south_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a south) (at_segment ?a seg_twe4_0_50) (not_occupied seg_rwe_0_50) (not_blocked seg_rwe_0_50 airplane_cfbeg))
+  :effect (and (not (occupied seg_twe4_0_50)) (not_occupied seg_twe4_0_50) (not (at_segment ?a seg_twe4_0_50)) (occupied seg_rwe_0_50) (not (not_occupied seg_rwe_0_50)) (blocked seg_rwe_0_50 ?a) (not (not_blocked seg_rwe_0_50 ?a)) (at_segment ?a seg_rwe_0_50) (not (blocked seg_twe3_0_50 ?a)) (not_blocked seg_twe3_0_50 ?a)))
+ (:action move_seg_rwe_0_50_seg_rw_0_400_south_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a south) (at_segment ?a seg_rwe_0_50) (not_occupied seg_rw_0_400) (not_blocked seg_rw_0_400 airplane_cfbeg))
+  :effect (and (not (occupied seg_rwe_0_50)) (not_occupied seg_rwe_0_50) (not (at_segment ?a seg_rwe_0_50)) (occupied seg_rw_0_400) (not (not_occupied seg_rw_0_400)) (blocked seg_rw_0_400 ?a) (not (not_blocked seg_rw_0_400 ?a)) (at_segment ?a seg_rw_0_400) (not (blocked seg_twe4_0_50 ?a)) (not_blocked seg_twe4_0_50 ?a)))
+ (:action move_seg_rw_0_400_seg_rww_0_50_south_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a south) (at_segment ?a seg_rw_0_400) (not_occupied seg_rww_0_50) (not_blocked seg_rww_0_50 airplane_cfbeg) (not_occupied seg_rwe_0_50))
+  :effect (and (not (occupied seg_rw_0_400)) (not_occupied seg_rw_0_400) (not (at_segment ?a seg_rw_0_400)) (occupied seg_rww_0_50) (not (not_occupied seg_rww_0_50)) (blocked seg_rww_0_50 ?a) (not (not_blocked seg_rww_0_50 ?a)) (at_segment ?a seg_rww_0_50)))
+ (:action move_seg_rww_0_50_seg_tww4_0_50_south_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a south) (at_segment ?a seg_rww_0_50) (not_occupied seg_tww4_0_50) (not_blocked seg_tww4_0_50 airplane_cfbeg) (not_occupied seg_rwtw1_0_10))
+  :effect (and (not (occupied seg_rww_0_50)) (not_occupied seg_rww_0_50) (not (at_segment ?a seg_rww_0_50)) (occupied seg_tww4_0_50) (not (not_occupied seg_tww4_0_50)) (blocked seg_tww4_0_50 ?a) (not (not_blocked seg_tww4_0_50 ?a)) (at_segment ?a seg_tww4_0_50) (not (facing ?a south)) (facing ?a north) (not (blocked seg_rwe_0_50 ?a)) (not_blocked seg_rwe_0_50 ?a) (not (blocked seg_rw_0_400 ?a)) (not_blocked seg_rw_0_400 ?a) (blocked seg_rwtw1_0_10 ?a) (not (not_blocked seg_rwtw1_0_10 ?a))))
+ (:action move_seg_tww4_0_50_seg_tww3_0_50_north_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a north) (at_segment ?a seg_tww4_0_50) (not_occupied seg_tww3_0_50) (not_blocked seg_tww3_0_50 airplane_cfbeg))
+  :effect (and (not (occupied seg_tww4_0_50)) (not_occupied seg_tww4_0_50) (not (at_segment ?a seg_tww4_0_50)) (occupied seg_tww3_0_50) (not (not_occupied seg_tww3_0_50)) (blocked seg_tww3_0_50 ?a) (not (not_blocked seg_tww3_0_50 ?a)) (at_segment ?a seg_tww3_0_50) (not (blocked seg_rww_0_50 ?a)) (not_blocked seg_rww_0_50 ?a) (not (blocked seg_rwtw1_0_10 ?a)) (not_blocked seg_rwtw1_0_10 ?a)))
+ (:action move_seg_tww3_0_50_seg_tww2_0_50_north_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a north) (at_segment ?a seg_tww3_0_50) (not_occupied seg_tww2_0_50) (not_blocked seg_tww2_0_50 airplane_cfbeg))
+  :effect (and (not (occupied seg_tww3_0_50)) (not_occupied seg_tww3_0_50) (not (at_segment ?a seg_tww3_0_50)) (occupied seg_tww2_0_50) (not (not_occupied seg_tww2_0_50)) (blocked seg_tww2_0_50 ?a) (not (not_blocked seg_tww2_0_50 ?a)) (at_segment ?a seg_tww2_0_50) (not (blocked seg_tww4_0_50 ?a)) (not_blocked seg_tww4_0_50 ?a)))
+ (:action move_seg_tww2_0_50_seg_tww1_0_200_north_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a north) (at_segment ?a seg_tww2_0_50) (not_occupied seg_tww1_0_200) (not_blocked seg_tww1_0_200 airplane_cfbeg))
+  :effect (and (not (occupied seg_tww2_0_50)) (not_occupied seg_tww2_0_50) (not (at_segment ?a seg_tww2_0_50)) (occupied seg_tww1_0_200) (not (not_occupied seg_tww1_0_200)) (blocked seg_tww1_0_200 ?a) (not (not_blocked seg_tww1_0_200 ?a)) (at_segment ?a seg_tww1_0_200) (not (blocked seg_tww3_0_50 ?a)) (not_blocked seg_tww3_0_50 ?a)))
+ (:action move_seg_tww1_0_200_seg_ppdoor_0_40_north_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a north) (at_segment ?a seg_tww1_0_200) (not_occupied seg_ppdoor_0_40) (not_blocked seg_ppdoor_0_40 airplane_cfbeg) (not_occupied seg_twe1_0_200))
+  :effect (and (not (occupied seg_tww1_0_200)) (not_occupied seg_tww1_0_200) (not (at_segment ?a seg_tww1_0_200)) (occupied seg_ppdoor_0_40) (not (not_occupied seg_ppdoor_0_40)) (blocked seg_ppdoor_0_40 ?a) (not (not_blocked seg_ppdoor_0_40 ?a)) (at_segment ?a seg_ppdoor_0_40) (not (facing ?a north)) (facing ?a south) (not (blocked seg_tww2_0_50 ?a)) (not_blocked seg_tww2_0_50 ?a) (blocked seg_twe1_0_200 ?a) (not (not_blocked seg_twe1_0_200 ?a))))
+ (:action move_seg_ppdoor_0_40_seg_pp_0_60_south_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (has_type ?a medium) (is_moving ?a) (facing ?a south) (at_segment ?a seg_ppdoor_0_40) (not_occupied seg_pp_0_60) (not_blocked seg_pp_0_60 airplane_cfbeg))
+  :effect (and (not (occupied seg_ppdoor_0_40)) (not_occupied seg_ppdoor_0_40) (not (at_segment ?a seg_ppdoor_0_40)) (occupied seg_pp_0_60) (not (not_occupied seg_pp_0_60)) (blocked seg_pp_0_60 ?a) (not (not_blocked seg_pp_0_60 ?a)) (at_segment ?a seg_pp_0_60) (not (blocked seg_tww1_0_200 ?a)) (not_blocked seg_tww1_0_200 ?a) (not (blocked seg_twe1_0_200 ?a)) (not_blocked seg_twe1_0_200 ?a)))
+ (:action takeoff_seg_rww_0_50_north
+  :parameters ( ?a - airplane)
+  :precondition (and (at_segment ?a seg_rww_0_50) (facing ?a north) (is_moving ?a))
+  :effect (and (not (occupied seg_rww_0_50)) (not_occupied seg_rww_0_50) (not (blocked seg_rww_0_50 ?a)) (not_blocked seg_rww_0_50 ?a) (not (at_segment ?a seg_rww_0_50)) (airborne ?a seg_rww_0_50) (not (is_moving ?a)) (not (blocked seg_tww4_0_50 ?a)) (not_blocked seg_tww4_0_50 ?a)))
+ (:action takeoff_seg_rwe_0_50_south
+  :parameters ( ?a - airplane)
+  :precondition (and (at_segment ?a seg_rwe_0_50) (facing ?a south) (is_moving ?a))
+  :effect (and (not (occupied seg_rwe_0_50)) (not_occupied seg_rwe_0_50) (not (blocked seg_rwe_0_50 ?a)) (not_blocked seg_rwe_0_50 ?a) (not (at_segment ?a seg_rwe_0_50)) (airborne ?a seg_rwe_0_50) (not (is_moving ?a)) (not (blocked seg_twe4_0_50 ?a)) (not_blocked seg_twe4_0_50 ?a)))
+ (:action park_seg_pp_0_60_north
+  :parameters ( ?a - airplane)
+  :precondition (and (at_segment ?a seg_pp_0_60) (facing ?a north) (is_moving ?a))
+  :effect (and (is_parked ?a seg_pp_0_60) (not (is_moving ?a))))
+ (:action park_seg_pp_0_60_south
+  :parameters ( ?a - airplane)
+  :precondition (and (at_segment ?a seg_pp_0_60) (facing ?a south) (is_moving ?a))
+  :effect (and (is_parked ?a seg_pp_0_60) (not (is_moving ?a)) (not (blocked seg_ppdoor_0_40 ?a)) (not_blocked seg_ppdoor_0_40 ?a)))
+ (:action startup_seg_pp_0_60_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_pp_0_60))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a)))
+ (:action startup_seg_pp_0_60_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_pp_0_60) (not_occupied seg_ppdoor_0_40))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_ppdoor_0_40 ?a) (not (not_blocked seg_ppdoor_0_40 ?a))))
+ (:action startup_seg_ppdoor_0_40_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_ppdoor_0_40) (not_occupied seg_pp_0_60))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_pp_0_60 ?a) (not (not_blocked seg_pp_0_60 ?a))))
+ (:action startup_seg_ppdoor_0_40_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_ppdoor_0_40) (not_occupied seg_tww1_0_200) (not_occupied seg_twe1_0_200))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_tww1_0_200 ?a) (not (not_blocked seg_tww1_0_200 ?a)) (blocked seg_twe1_0_200 ?a) (not (not_blocked seg_twe1_0_200 ?a))))
+ (:action startup_seg_tww1_0_200_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_tww1_0_200) (not_occupied seg_tww2_0_50))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_tww2_0_50 ?a) (not (not_blocked seg_tww2_0_50 ?a))))
+ (:action startup_seg_tww1_0_200_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_tww1_0_200) (not_occupied seg_ppdoor_0_40) (not_occupied seg_twe1_0_200))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_ppdoor_0_40 ?a) (not (not_blocked seg_ppdoor_0_40 ?a)) (blocked seg_twe1_0_200 ?a) (not (not_blocked seg_twe1_0_200 ?a))))
+ (:action startup_seg_twe1_0_200_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_twe1_0_200) (not_occupied seg_twe2_0_50))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_twe2_0_50 ?a) (not (not_blocked seg_twe2_0_50 ?a))))
+ (:action startup_seg_twe1_0_200_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_twe1_0_200) (not_occupied seg_ppdoor_0_40) (not_occupied seg_tww1_0_200))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_ppdoor_0_40 ?a) (not (not_blocked seg_ppdoor_0_40 ?a)) (blocked seg_tww1_0_200 ?a) (not (not_blocked seg_tww1_0_200 ?a))))
+ (:action startup_seg_tww2_0_50_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_tww2_0_50) (not_occupied seg_tww3_0_50))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_tww3_0_50 ?a) (not (not_blocked seg_tww3_0_50 ?a))))
+ (:action startup_seg_tww2_0_50_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_tww2_0_50) (not_occupied seg_tww1_0_200))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_tww1_0_200 ?a) (not (not_blocked seg_tww1_0_200 ?a))))
+ (:action startup_seg_tww3_0_50_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_tww3_0_50) (not_occupied seg_tww4_0_50))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_tww4_0_50 ?a) (not (not_blocked seg_tww4_0_50 ?a))))
+ (:action startup_seg_tww3_0_50_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_tww3_0_50) (not_occupied seg_tww2_0_50))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_tww2_0_50 ?a) (not (not_blocked seg_tww2_0_50 ?a))))
+ (:action startup_seg_tww4_0_50_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_tww4_0_50) (not_occupied seg_rww_0_50) (not_occupied seg_rwtw1_0_10))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_rww_0_50 ?a) (not (not_blocked seg_rww_0_50 ?a)) (blocked seg_rwtw1_0_10 ?a) (not (not_blocked seg_rwtw1_0_10 ?a))))
+ (:action startup_seg_tww4_0_50_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_tww4_0_50) (not_occupied seg_tww3_0_50))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_tww3_0_50 ?a) (not (not_blocked seg_tww3_0_50 ?a))))
+ (:action startup_seg_twe4_0_50_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_twe4_0_50) (not_occupied seg_rwte1_0_10) (not_occupied seg_rwe_0_50))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_rwte1_0_10 ?a) (not (not_blocked seg_rwte1_0_10 ?a)) (blocked seg_rwe_0_50 ?a) (not (not_blocked seg_rwe_0_50 ?a))))
+ (:action startup_seg_twe4_0_50_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_twe4_0_50) (not_occupied seg_twe3_0_50))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_twe3_0_50 ?a) (not (not_blocked seg_twe3_0_50 ?a))))
+ (:action startup_seg_twe3_0_50_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_twe3_0_50) (not_occupied seg_twe4_0_50))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_twe4_0_50 ?a) (not (not_blocked seg_twe4_0_50 ?a))))
+ (:action startup_seg_twe3_0_50_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_twe3_0_50) (not_occupied seg_twe2_0_50))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_twe2_0_50 ?a) (not (not_blocked seg_twe2_0_50 ?a))))
+ (:action startup_seg_twe2_0_50_north_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_twe2_0_50) (not_occupied seg_twe3_0_50))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_twe3_0_50 ?a) (not (not_blocked seg_twe3_0_50 ?a))))
+ (:action startup_seg_twe2_0_50_south_medium
+  :parameters ( ?a - airplane)
+  :precondition (and (is_pushing ?a) (at_segment ?a seg_twe2_0_50) (not_occupied seg_twe1_0_200))
+  :effect (and (not (is_pushing ?a)) (is_moving ?a) (blocked seg_twe1_0_200 ?a) (not (not_blocked seg_twe1_0_200 ?a))))
+)
diff --git a/planning/problems/upf/ipc2004-airport-nontemporal-strips/max_depth.txt b/planning/problems/upf/ipc2004-airport-nontemporal-strips/max_depth.txt
new file mode 100644
index 00000000..56a6051c
--- /dev/null
+++ b/planning/problems/upf/ipc2004-airport-nontemporal-strips/max_depth.txt
@@ -0,0 +1 @@
+1
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2004-airport-nontemporal-strips/problem.pddl b/planning/problems/upf/ipc2004-airport-nontemporal-strips/problem.pddl
new file mode 100644
index 00000000..23ecedbc
--- /dev/null
+++ b/planning/problems/upf/ipc2004-airport-nontemporal-strips/problem.pddl
@@ -0,0 +1,9 @@
+(define (problem problem_x-problem)
+ (:domain problem_x-domain)
+ (:objects
+   seg_rwte2_0_10 seg_rwtw2_0_10 - segment
+   light heavy - airplanetype
+ )
+ (:init (at_segment airplane_cfbeg seg_rw_0_400) (blocked seg_rw_0_400 airplane_cfbeg) (blocked seg_rwe_0_50 airplane_cfbeg) (facing airplane_cfbeg south) (has_type airplane_cfbeg medium) (is_moving airplane_cfbeg) (not_blocked seg_pp_0_60 airplane_cfbeg) (not_blocked seg_ppdoor_0_40 airplane_cfbeg) (not_blocked seg_tww1_0_200 airplane_cfbeg) (not_blocked seg_twe1_0_200 airplane_cfbeg) (not_blocked seg_tww2_0_50 airplane_cfbeg) (not_blocked seg_tww3_0_50 airplane_cfbeg) (not_blocked seg_tww4_0_50 airplane_cfbeg) (not_blocked seg_rww_0_50 airplane_cfbeg) (not_blocked seg_rwtw1_0_10 airplane_cfbeg) (not_blocked seg_twe4_0_50 airplane_cfbeg) (not_blocked seg_rwte1_0_10 airplane_cfbeg) (not_blocked seg_twe3_0_50 airplane_cfbeg) (not_blocked seg_twe2_0_50 airplane_cfbeg) (not_blocked seg_rwte2_0_10 airplane_cfbeg) (not_blocked seg_rwtw2_0_10 airplane_cfbeg) (not_occupied seg_pp_0_60) (not_occupied seg_ppdoor_0_40) (not_occupied seg_tww1_0_200) (not_occupied seg_twe1_0_200) (not_occupied seg_tww2_0_50) (not_occupied seg_tww3_0_50) (not_occupied seg_tww4_0_50) (not_occupied seg_rww_0_50) (not_occupied seg_rwtw1_0_10) (not_occupied seg_rwe_0_50) (not_occupied seg_twe4_0_50) (not_occupied seg_rwte1_0_10) (not_occupied seg_twe3_0_50) (not_occupied seg_twe2_0_50) (not_occupied seg_rwte2_0_10) (not_occupied seg_rwtw2_0_10) (occupied seg_rw_0_400))
+ (:goal (and (is_parked airplane_cfbeg seg_pp_0_60)))
+)
diff --git a/planning/problems/upf/ipc2004-pipesworld-no-tankage-nontemporal-strips/domain.pddl b/planning/problems/upf/ipc2004-pipesworld-no-tankage-nontemporal-strips/domain.pddl
new file mode 100644
index 00000000..b7c7a891
--- /dev/null
+++ b/planning/problems/upf/ipc2004-pipesworld-no-tankage-nontemporal-strips/domain.pddl
@@ -0,0 +1,29 @@
+(define (domain network1new_all_6_2_instance-domain)
+ (:requirements :strips :typing)
+ (:types pipe area product batch_atom)
+ (:predicates (connect ?from - area ?to - area ?pipe - pipe) (unitary ?pipe - pipe) (not_unitary ?pipe - pipe) (last ?batch_atom - batch_atom ?pipe - pipe) (first ?batch_atom - batch_atom ?pipe - pipe) (follow ?next - batch_atom ?previous - batch_atom) (is_product ?batch_atom - batch_atom ?product - product) (on ?batch_atom - batch_atom ?area - area) (may_interface ?product_a - product ?product_b - product) (normal ?pipe - pipe) (push_updating ?pipe - pipe) (pop_updating ?pipe - pipe))
+ (:action push_start
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?first_batch_atom - batch_atom ?product_batch_atom_in - product ?product_first_batch - product)
+  :precondition (and (normal ?pipe) (first ?first_batch_atom ?pipe) (connect ?from_area ?to_area ?pipe) (on ?batch_atom_in ?from_area) (not_unitary ?pipe) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?first_batch_atom ?product_first_batch) (may_interface ?product_batch_atom_in ?product_first_batch))
+  :effect (and (push_updating ?pipe) (not (normal ?pipe)) (first ?batch_atom_in ?pipe) (not (first ?first_batch_atom ?pipe)) (follow ?first_batch_atom ?batch_atom_in) (not (on ?batch_atom_in ?from_area))))
+ (:action push_end
+  :parameters ( ?pipe - pipe ?from_area - area ?to_area - area ?last_batch_atom - batch_atom ?next_last_batch_atom - batch_atom)
+  :precondition (and (push_updating ?pipe) (last ?last_batch_atom ?pipe) (connect ?from_area ?to_area ?pipe) (not_unitary ?pipe) (follow ?last_batch_atom ?next_last_batch_atom))
+  :effect (and (not (push_updating ?pipe)) (normal ?pipe) (not (follow ?last_batch_atom ?next_last_batch_atom)) (last ?next_last_batch_atom ?pipe) (not (last ?last_batch_atom ?pipe)) (on ?last_batch_atom ?to_area)))
+ (:action pop_start
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?last_batch_atom - batch_atom ?product_batch_atom_in - product ?product_last_batch - product)
+  :precondition (and (normal ?pipe) (last ?last_batch_atom ?pipe) (connect ?from_area ?to_area ?pipe) (on ?batch_atom_in ?to_area) (not_unitary ?pipe) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?last_batch_atom ?product_last_batch) (may_interface ?product_batch_atom_in ?product_last_batch))
+  :effect (and (pop_updating ?pipe) (not (normal ?pipe)) (last ?batch_atom_in ?pipe) (not (last ?last_batch_atom ?pipe)) (follow ?batch_atom_in ?last_batch_atom) (not (on ?batch_atom_in ?to_area))))
+ (:action pop_end
+  :parameters ( ?pipe - pipe ?from_area - area ?to_area - area ?first_batch_atom - batch_atom ?next_first_batch_atom - batch_atom)
+  :precondition (and (pop_updating ?pipe) (first ?first_batch_atom ?pipe) (connect ?from_area ?to_area ?pipe) (not_unitary ?pipe) (follow ?next_first_batch_atom ?first_batch_atom))
+  :effect (and (not (pop_updating ?pipe)) (normal ?pipe) (not (follow ?next_first_batch_atom ?first_batch_atom)) (first ?next_first_batch_atom ?pipe) (not (first ?first_batch_atom ?pipe)) (on ?first_batch_atom ?from_area)))
+ (:action push_unitarypipe
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?first_batch_atom - batch_atom ?product_batch_atom_in - product ?product_first_batch - product)
+  :precondition (and (first ?first_batch_atom ?pipe) (connect ?from_area ?to_area ?pipe) (on ?batch_atom_in ?from_area) (unitary ?pipe) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?first_batch_atom ?product_first_batch) (may_interface ?product_batch_atom_in ?product_first_batch))
+  :effect (and (first ?batch_atom_in ?pipe) (not (first ?first_batch_atom ?pipe)) (last ?batch_atom_in ?pipe) (not (last ?first_batch_atom ?pipe)) (not (on ?batch_atom_in ?from_area)) (on ?first_batch_atom ?to_area)))
+ (:action pop_unitarypipe
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?last_batch_atom - batch_atom ?product_batch_atom_in - product ?product_last_batch - product)
+  :precondition (and (last ?last_batch_atom ?pipe) (connect ?from_area ?to_area ?pipe) (on ?batch_atom_in ?to_area) (unitary ?pipe) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?last_batch_atom ?product_last_batch) (may_interface ?product_batch_atom_in ?product_last_batch))
+  :effect (and (last ?batch_atom_in ?pipe) (not (last ?last_batch_atom ?pipe)) (first ?batch_atom_in ?pipe) (not (first ?last_batch_atom ?pipe)) (not (on ?batch_atom_in ?to_area)) (on ?last_batch_atom ?from_area)))
+)
diff --git a/planning/problems/upf/ipc2004-pipesworld-no-tankage-nontemporal-strips/max_depth.txt b/planning/problems/upf/ipc2004-pipesworld-no-tankage-nontemporal-strips/max_depth.txt
new file mode 100644
index 00000000..bf0d87ab
--- /dev/null
+++ b/planning/problems/upf/ipc2004-pipesworld-no-tankage-nontemporal-strips/max_depth.txt
@@ -0,0 +1 @@
+4
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2004-pipesworld-no-tankage-nontemporal-strips/problem.pddl b/planning/problems/upf/ipc2004-pipesworld-no-tankage-nontemporal-strips/problem.pddl
new file mode 100644
index 00000000..bfabe8e9
--- /dev/null
+++ b/planning/problems/upf/ipc2004-pipesworld-no-tankage-nontemporal-strips/problem.pddl
@@ -0,0 +1,11 @@
+(define (problem network1new_all_6_2_instance-problem)
+ (:domain network1new_all_6_2_instance-domain)
+ (:objects
+   s12 s13 - pipe
+   a1 a2 a3 - area
+   lco gasoleo rat_a oca1 oc1b - product
+   b0 b3 b1 b4 b2 b5 - batch_atom
+ )
+ (:init (normal s12) (normal s13) (may_interface lco lco) (may_interface gasoleo gasoleo) (may_interface rat_a rat_a) (may_interface oca1 oca1) (may_interface oc1b oc1b) (may_interface lco gasoleo) (may_interface gasoleo lco) (may_interface lco oca1) (may_interface oca1 lco) (may_interface lco oc1b) (may_interface oc1b lco) (may_interface lco rat_a) (may_interface rat_a lco) (may_interface gasoleo rat_a) (may_interface rat_a gasoleo) (may_interface gasoleo oca1) (may_interface oca1 gasoleo) (may_interface gasoleo oc1b) (may_interface oc1b gasoleo) (may_interface oca1 oc1b) (may_interface oc1b oca1) (connect a1 a2 s12) (connect a1 a3 s13) (is_product b0 oc1b) (is_product b3 rat_a) (is_product b1 lco) (is_product b4 lco) (is_product b2 gasoleo) (is_product b5 oca1) (on b0 a1) (on b3 a1) (on b1 a3) (on b2 a1) (first b4 s12) (last b4 s12) (first b5 s13) (last b5 s13) (unitary s12) (unitary s13))
+ (:goal (and (on b2 a3) (on b5 a2)))
+)
diff --git a/planning/problems/upf/ipc2004-pipesworld-tankage-nontemporal-strips/domain.pddl b/planning/problems/upf/ipc2004-pipesworld-tankage-nontemporal-strips/domain.pddl
new file mode 100644
index 00000000..6fda49b8
--- /dev/null
+++ b/planning/problems/upf/ipc2004-pipesworld-tankage-nontemporal-strips/domain.pddl
@@ -0,0 +1,29 @@
+(define (domain p01_net1_b6_g2_rt0_instance-domain)
+ (:requirements :strips :typing)
+ (:types pipe area product batch_atom tank_slot)
+ (:predicates (connect ?from - area ?to - area ?pipe - pipe) (unitary ?pipe - pipe) (not_unitary ?pipe - pipe) (last ?batch_atom - batch_atom ?pipe - pipe) (first ?batch_atom - batch_atom ?pipe - pipe) (follow ?next - batch_atom ?previous - batch_atom) (is_product ?batch_atom - batch_atom ?product - product) (on ?batch_atom - batch_atom ?area - area) (may_interface ?product_a - product ?product_b - product) (normal ?pipe - pipe) (push_updating ?pipe - pipe) (pop_updating ?pipe - pipe) (tank_slot_product_location ?tank_slot - tank_slot ?product - product ?area - area) (occupied ?tank_slot - tank_slot) (not_occupied ?tank_slot - tank_slot))
+ (:action push_start
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?first_batch_atom - batch_atom ?product_batch_atom_in - product ?product_first_batch - product ?tank_slot - tank_slot)
+  :precondition (and (normal ?pipe) (not_unitary ?pipe) (connect ?from_area ?to_area ?pipe) (first ?first_batch_atom ?pipe) (on ?batch_atom_in ?from_area) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?first_batch_atom ?product_first_batch) (may_interface ?product_batch_atom_in ?product_first_batch) (tank_slot_product_location ?tank_slot ?product_batch_atom_in ?from_area) (occupied ?tank_slot))
+  :effect (and (push_updating ?pipe) (not (normal ?pipe)) (first ?batch_atom_in ?pipe) (not (first ?first_batch_atom ?pipe)) (follow ?first_batch_atom ?batch_atom_in) (not (on ?batch_atom_in ?from_area)) (not (occupied ?tank_slot)) (not_occupied ?tank_slot)))
+ (:action push_end
+  :parameters ( ?pipe - pipe ?from_area - area ?to_area - area ?last_batch_atom - batch_atom ?next_last_batch_atom - batch_atom ?product_last_batch - product ?tank_slot - tank_slot)
+  :precondition (and (push_updating ?pipe) (not_unitary ?pipe) (connect ?from_area ?to_area ?pipe) (last ?last_batch_atom ?pipe) (follow ?last_batch_atom ?next_last_batch_atom) (is_product ?last_batch_atom ?product_last_batch) (tank_slot_product_location ?tank_slot ?product_last_batch ?to_area) (not_occupied ?tank_slot))
+  :effect (and (not (push_updating ?pipe)) (normal ?pipe) (not (follow ?last_batch_atom ?next_last_batch_atom)) (last ?next_last_batch_atom ?pipe) (not (last ?last_batch_atom ?pipe)) (on ?last_batch_atom ?to_area) (occupied ?tank_slot) (not (not_occupied ?tank_slot))))
+ (:action pop_start
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?last_batch_atom - batch_atom ?product_batch_atom_in - product ?product_last_batch - product ?tank_slot - tank_slot)
+  :precondition (and (normal ?pipe) (not_unitary ?pipe) (connect ?from_area ?to_area ?pipe) (last ?last_batch_atom ?pipe) (on ?batch_atom_in ?to_area) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?last_batch_atom ?product_last_batch) (may_interface ?product_batch_atom_in ?product_last_batch) (tank_slot_product_location ?tank_slot ?product_batch_atom_in ?to_area) (occupied ?tank_slot))
+  :effect (and (pop_updating ?pipe) (not (normal ?pipe)) (last ?batch_atom_in ?pipe) (not (last ?last_batch_atom ?pipe)) (follow ?batch_atom_in ?last_batch_atom) (not (on ?batch_atom_in ?to_area)) (not (occupied ?tank_slot)) (not_occupied ?tank_slot)))
+ (:action pop_end
+  :parameters ( ?pipe - pipe ?from_area - area ?to_area - area ?first_batch_atom - batch_atom ?next_first_batch_atom - batch_atom ?product_first_batch - product ?tank_slot - tank_slot)
+  :precondition (and (pop_updating ?pipe) (not_unitary ?pipe) (connect ?from_area ?to_area ?pipe) (first ?first_batch_atom ?pipe) (follow ?next_first_batch_atom ?first_batch_atom) (tank_slot_product_location ?tank_slot ?product_first_batch ?from_area) (not_occupied ?tank_slot))
+  :effect (and (not (pop_updating ?pipe)) (normal ?pipe) (not (follow ?next_first_batch_atom ?first_batch_atom)) (first ?next_first_batch_atom ?pipe) (not (first ?first_batch_atom ?pipe)) (on ?first_batch_atom ?from_area) (occupied ?tank_slot) (not (not_occupied ?tank_slot))))
+ (:action push_unitarypipe
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?first_batch_atom - batch_atom ?product_batch_atom_in - product ?product_first_batch - product ?from_tank_slot - tank_slot ?to_tank_slot - tank_slot)
+  :precondition (and (first ?first_batch_atom ?pipe) (connect ?from_area ?to_area ?pipe) (on ?batch_atom_in ?from_area) (unitary ?pipe) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?first_batch_atom ?product_first_batch) (may_interface ?product_batch_atom_in ?product_first_batch) (tank_slot_product_location ?from_tank_slot ?product_batch_atom_in ?from_area) (occupied ?from_tank_slot) (tank_slot_product_location ?to_tank_slot ?product_first_batch ?to_area) (not_occupied ?to_tank_slot))
+  :effect (and (first ?batch_atom_in ?pipe) (not (first ?first_batch_atom ?pipe)) (last ?batch_atom_in ?pipe) (not (last ?first_batch_atom ?pipe)) (not (on ?batch_atom_in ?from_area)) (not (occupied ?from_tank_slot)) (not_occupied ?from_tank_slot) (on ?first_batch_atom ?to_area) (occupied ?to_tank_slot) (not (not_occupied ?to_tank_slot))))
+ (:action pop_unitarypipe
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?first_batch_atom - batch_atom ?product_batch_atom_in - product ?product_first_batch - product ?from_tank_slot - tank_slot ?to_tank_slot - tank_slot)
+  :precondition (and (first ?first_batch_atom ?pipe) (connect ?from_area ?to_area ?pipe) (on ?batch_atom_in ?to_area) (unitary ?pipe) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?first_batch_atom ?product_first_batch) (may_interface ?product_batch_atom_in ?product_first_batch) (tank_slot_product_location ?to_tank_slot ?product_batch_atom_in ?to_area) (occupied ?to_tank_slot) (tank_slot_product_location ?from_tank_slot ?product_first_batch ?from_area) (not_occupied ?from_tank_slot))
+  :effect (and (last ?batch_atom_in ?pipe) (not (last ?first_batch_atom ?pipe)) (first ?batch_atom_in ?pipe) (not (first ?first_batch_atom ?pipe)) (not (on ?batch_atom_in ?to_area)) (not (occupied ?to_tank_slot)) (not_occupied ?to_tank_slot) (on ?first_batch_atom ?from_area) (occupied ?from_tank_slot) (not (not_occupied ?from_tank_slot))))
+)
diff --git a/planning/problems/upf/ipc2004-pipesworld-tankage-nontemporal-strips/max_depth.txt b/planning/problems/upf/ipc2004-pipesworld-tankage-nontemporal-strips/max_depth.txt
new file mode 100644
index 00000000..bf0d87ab
--- /dev/null
+++ b/planning/problems/upf/ipc2004-pipesworld-tankage-nontemporal-strips/max_depth.txt
@@ -0,0 +1 @@
+4
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2004-pipesworld-tankage-nontemporal-strips/problem.pddl b/planning/problems/upf/ipc2004-pipesworld-tankage-nontemporal-strips/problem.pddl
new file mode 100644
index 00000000..8e71d708
--- /dev/null
+++ b/planning/problems/upf/ipc2004-pipesworld-tankage-nontemporal-strips/problem.pddl
@@ -0,0 +1,12 @@
+(define (problem p01_net1_b6_g2_rt0_instance-problem)
+ (:domain p01_net1_b6_g2_rt0_instance-domain)
+ (:objects
+   s12 s13 - pipe
+   a1 a2 a3 - area
+   lco gasoleo rat_a oca1 oc1b - product
+   b0 b3 b1 b4 b2 b5 - batch_atom
+   ta1_1_lco ta1_1_gasoleo ta1_1_rat_a ta1_1_oca1 ta1_1_oc1b ta2_1_lco ta2_1_gasoleo ta2_1_rat_a ta2_1_oca1 ta2_1_oc1b ta3_1_lco ta3_1_gasoleo ta3_1_rat_a ta3_1_oca1 ta3_1_oc1b - tank_slot
+ )
+ (:init (normal s12) (normal s13) (may_interface lco lco) (may_interface gasoleo gasoleo) (may_interface rat_a rat_a) (may_interface oca1 oca1) (may_interface oc1b oc1b) (may_interface lco gasoleo) (may_interface gasoleo lco) (may_interface lco oca1) (may_interface oca1 lco) (may_interface lco oc1b) (may_interface oc1b lco) (may_interface lco rat_a) (may_interface rat_a lco) (may_interface gasoleo rat_a) (may_interface rat_a gasoleo) (may_interface gasoleo oca1) (may_interface oca1 gasoleo) (may_interface gasoleo oc1b) (may_interface oc1b gasoleo) (may_interface oca1 oc1b) (may_interface oc1b oca1) (connect a1 a2 s12) (connect a1 a3 s13) (tank_slot_product_location ta1_1_lco lco a1) (tank_slot_product_location ta1_1_gasoleo gasoleo a1) (tank_slot_product_location ta1_1_rat_a rat_a a1) (tank_slot_product_location ta1_1_oca1 oca1 a1) (tank_slot_product_location ta1_1_oc1b oc1b a1) (tank_slot_product_location ta2_1_lco lco a2) (tank_slot_product_location ta2_1_gasoleo gasoleo a2) (tank_slot_product_location ta2_1_rat_a rat_a a2) (tank_slot_product_location ta2_1_oca1 oca1 a2) (tank_slot_product_location ta2_1_oc1b oc1b a2) (tank_slot_product_location ta3_1_lco lco a3) (tank_slot_product_location ta3_1_gasoleo gasoleo a3) (tank_slot_product_location ta3_1_rat_a rat_a a3) (tank_slot_product_location ta3_1_oca1 oca1 a3) (tank_slot_product_location ta3_1_oc1b oc1b a3) (is_product b0 oc1b) (is_product b3 rat_a) (is_product b1 lco) (is_product b4 lco) (is_product b2 gasoleo) (is_product b5 oca1) (on b0 a1) (occupied ta1_1_oc1b) (on b3 a1) (occupied ta1_1_rat_a) (on b1 a3) (occupied ta3_1_lco) (on b2 a1) (occupied ta1_1_gasoleo) (not_occupied ta1_1_lco) (not_occupied ta1_1_oca1) (not_occupied ta2_1_lco) (not_occupied ta2_1_gasoleo) (not_occupied ta2_1_rat_a) (not_occupied ta2_1_oca1) (not_occupied ta2_1_oc1b) (not_occupied ta3_1_gasoleo) (not_occupied ta3_1_rat_a) (not_occupied ta3_1_oca1) (not_occupied ta3_1_oc1b) (first b4 s12) (last b4 s12) (first b5 s13) (last b5 s13) (unitary s12) (unitary s13))
+ (:goal (and (on b2 a3) (on b5 a2) (normal s12) (normal s13)))
+)
diff --git a/planning/problems/upf/ipc2004-promela-dining-philosophers-strips/domain.pddl b/planning/problems/upf/ipc2004-promela-dining-philosophers-strips/domain.pddl
new file mode 100644
index 00000000..c5ae238e
--- /dev/null
+++ b/planning/problems/upf/ipc2004-promela-dining-philosophers-strips/domain.pddl
@@ -0,0 +1,228 @@
+(define (domain grounded_strips_instance-domain)
+ (:requirements :strips)
+ (:predicates (activate_philosopher_1_forks__pid_wfork) (activate_philosopher_0_forks__pid_wfork) (enabled_philosopher_1_forks__pid_wfork) (advance_tail_forks_1_) (queue_tail_msg_forks_1__fork) (enabled_philosopher_0_forks__pid_wfork) (advance_tail_forks_0_) (queue_tail_msg_forks_0__fork) (queue_msg_forks_1__qs_0_fork) (queue_head_msg_forks_1__fork) (queue_size_forks_1__one) (queue_msg_forks_0__qs_0_fork) (queue_head_msg_forks_0__fork) (queue_size_forks_0__one) (at_process_philosopher_0_state_6) (at_process_philosopher_1_state_6) (activate_philosopher_1_forks__pid_rfork) (activate_philosopher_0_forks__pid_rfork) (advance_head_forks_1_) (enabled_philosopher_1_forks__pid_rfork) (advance_head_forks_0_) (enabled_philosopher_0_forks__pid_rfork) (blocked_trans_philosopher_1_forks__pid_rfork) (blocked_trans_philosopher_0_forks__pid_rfork) (blocked_trans_philosopher_1_forks__pid_wfork) (blocked_trans_philosopher_0_forks__pid_wfork) (at_process_philosopher_0_state_3) (at_process_philosopher_1_state_3) (activate_philosopher_1_forks____pidp1__2__rfork) (activate_philosopher_0_forks____pidp1__2__rfork) (blocked_philosopher_0) (blocked_philosopher_1) (enabled_philosopher_1_forks____pidp1__2__rfork) (enabled_philosopher_0_forks____pidp1__2__rfork) (blocked_trans_philosopher_1_forks____pidp1__2__rfork) (blocked_trans_philosopher_0_forks____pidp1__2__rfork) (at_process_philosopher_0_state_4) (at_process_philosopher_1_state_4) (at_process_philosopher_0_state_5) (at_process_philosopher_1_state_5) (activate_philosopher_1_forks____pidp1__2__wfork) (activate_philosopher_0_forks____pidp1__2__wfork) (blocked_trans_philosopher_0_forks____pidp1__2__wfork) (blocked_trans_philosopher_1_forks____pidp1__2__wfork) (enabled_philosopher_1_forks____pidp1__2__wfork) (enabled_philosopher_0_forks____pidp1__2__wfork) (settled_forks_1_) (settled_forks_0_) (pending_philosopher_0) (pending_philosopher_1) (queue_head_forks_0__qs_0) (queue_head_forks_1__qs_0) (at_process_philosopher_1_state_1) (at_process_philosopher_0_state_1) (queue_tail_forks_0__qs_0) (queue_size_forks_0__zero) (queue_head_msg_forks_0__empty) (queue_tail_forks_1__qs_0) (queue_size_forks_1__zero) (queue_head_msg_forks_1__empty))
+ (:action block_philosopher_1_state_5_philosopher_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_1_state_5) (blocked_trans_philosopher_1_forks____pidp1__2__wfork))
+  :effect (and (blocked_philosopher_1)))
+ (:action block_philosopher_0_state_5_philosopher_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_0_state_5) (blocked_trans_philosopher_0_forks____pidp1__2__wfork))
+  :effect (and (blocked_philosopher_0)))
+ (:action perform_trans_philosopher_1_philosopher_forks____pidp1__2__wfork_state_5_state_6_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_1_state_5) (enabled_philosopher_1_forks____pidp1__2__wfork) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (at_process_philosopher_1_state_6) (pending_philosopher_1) (not (at_process_philosopher_1_state_5)) (not (enabled_philosopher_1_forks____pidp1__2__wfork))))
+ (:action perform_trans_philosopher_0_philosopher_forks____pidp1__2__wfork_state_5_state_6_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_0_state_5) (enabled_philosopher_0_forks____pidp1__2__wfork) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (at_process_philosopher_0_state_6) (pending_philosopher_0) (not (at_process_philosopher_0_state_5)) (not (enabled_philosopher_0_forks____pidp1__2__wfork))))
+ (:action queue_write_philosopher_0_forks____pidp1__2__wfork_forks_1__fork_0
+  :parameters ()
+  :precondition (and (settled_forks_1_) (activate_philosopher_0_forks____pidp1__2__wfork))
+  :effect (and (enabled_philosopher_0_forks____pidp1__2__wfork) (advance_tail_forks_1_) (queue_tail_msg_forks_1__fork) (not (blocked_trans_philosopher_0_forks__pid_wfork)) (not (blocked_trans_philosopher_0_forks__pid_rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__wfork)) (not (blocked_trans_philosopher_1_forks__pid_wfork)) (not (blocked_trans_philosopher_1_forks__pid_rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__wfork)) (not (blocked_philosopher_0)) (not (blocked_philosopher_1)) (not (settled_forks_1_)) (not (activate_philosopher_0_forks____pidp1__2__wfork))))
+ (:action queue_write_philosopher_1_forks____pidp1__2__wfork_forks_0__fork_0
+  :parameters ()
+  :precondition (and (settled_forks_0_) (activate_philosopher_1_forks____pidp1__2__wfork))
+  :effect (and (enabled_philosopher_1_forks____pidp1__2__wfork) (advance_tail_forks_0_) (queue_tail_msg_forks_0__fork) (not (blocked_trans_philosopher_0_forks__pid_wfork)) (not (blocked_trans_philosopher_0_forks__pid_rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__wfork)) (not (blocked_trans_philosopher_1_forks__pid_wfork)) (not (blocked_trans_philosopher_1_forks__pid_rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__wfork)) (not (blocked_philosopher_0)) (not (blocked_philosopher_1)) (not (settled_forks_0_)) (not (activate_philosopher_1_forks____pidp1__2__wfork))))
+ (:action block_write_philosopher_1_forks____pidp1__2__wfork_forks_0__queue_1_fork_one_0
+  :parameters ()
+  :precondition (and (queue_size_forks_0__one) (settled_forks_0_) (activate_philosopher_1_forks____pidp1__2__wfork))
+  :effect (and (blocked_trans_philosopher_1_forks____pidp1__2__wfork) (not (enabled_philosopher_1_forks____pidp1__2__wfork)) (not (activate_philosopher_1_forks____pidp1__2__wfork)) (not (settled_forks_0_))))
+ (:action block_write_philosopher_0_forks____pidp1__2__wfork_forks_1__queue_1_fork_one_0
+  :parameters ()
+  :precondition (and (queue_size_forks_1__one) (settled_forks_1_) (activate_philosopher_0_forks____pidp1__2__wfork))
+  :effect (and (blocked_trans_philosopher_0_forks____pidp1__2__wfork) (not (enabled_philosopher_0_forks____pidp1__2__wfork)) (not (activate_philosopher_0_forks____pidp1__2__wfork)) (not (settled_forks_1_))))
+ (:action activate_trans_philosopher_0_philosopher_forks____pidp1__2__wfork_state_5_state_6_0
+  :parameters ()
+  :precondition (and (pending_philosopher_0) (at_process_philosopher_0_state_5) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (activate_philosopher_0_forks____pidp1__2__wfork) (not (pending_philosopher_0))))
+ (:action activate_trans_philosopher_1_philosopher_forks____pidp1__2__wfork_state_5_state_6_0
+  :parameters ()
+  :precondition (and (pending_philosopher_1) (at_process_philosopher_1_state_5) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (activate_philosopher_1_forks____pidp1__2__wfork) (not (pending_philosopher_1))))
+ (:action perform_trans_philosopher_1_philosopher_forks__pid_wfork_state_4_state_5_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_1_state_4) (enabled_philosopher_1_forks__pid_wfork) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (at_process_philosopher_1_state_5) (pending_philosopher_1) (not (at_process_philosopher_1_state_4)) (not (enabled_philosopher_1_forks__pid_wfork))))
+ (:action perform_trans_philosopher_0_philosopher_forks__pid_wfork_state_4_state_5_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_0_state_4) (enabled_philosopher_0_forks__pid_wfork) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (at_process_philosopher_0_state_5) (pending_philosopher_0) (not (at_process_philosopher_0_state_4)) (not (enabled_philosopher_0_forks__pid_wfork))))
+ (:action block_philosopher_1_state_4_philosopher_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_1_state_4) (blocked_trans_philosopher_1_forks__pid_wfork))
+  :effect (and (blocked_philosopher_1)))
+ (:action block_philosopher_1_state_3_philosopher_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_1_state_3) (blocked_trans_philosopher_1_forks____pidp1__2__rfork))
+  :effect (and (blocked_philosopher_1)))
+ (:action block_philosopher_0_state_4_philosopher_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_0_state_4) (blocked_trans_philosopher_0_forks__pid_wfork))
+  :effect (and (blocked_philosopher_0)))
+ (:action block_philosopher_0_state_3_philosopher_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_0_state_3) (blocked_trans_philosopher_0_forks____pidp1__2__rfork))
+  :effect (and (blocked_philosopher_0)))
+ (:action activate_trans_philosopher_0_philosopher_forks__pid_wfork_state_4_state_5_0
+  :parameters ()
+  :precondition (and (pending_philosopher_0) (at_process_philosopher_0_state_4) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (activate_philosopher_0_forks__pid_wfork) (not (pending_philosopher_0))))
+ (:action activate_trans_philosopher_1_philosopher_forks__pid_wfork_state_4_state_5_0
+  :parameters ()
+  :precondition (and (pending_philosopher_1) (at_process_philosopher_1_state_4) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (activate_philosopher_1_forks__pid_wfork) (not (pending_philosopher_1))))
+ (:action perform_trans_philosopher_1_philosopher_forks____pidp1__2__rfork_state_3_state_4_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_1_state_3) (enabled_philosopher_1_forks____pidp1__2__rfork) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (at_process_philosopher_1_state_4) (pending_philosopher_1) (not (at_process_philosopher_1_state_3)) (not (enabled_philosopher_1_forks____pidp1__2__rfork))))
+ (:action perform_trans_philosopher_0_philosopher_forks____pidp1__2__rfork_state_3_state_4_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_0_state_3) (enabled_philosopher_0_forks____pidp1__2__rfork) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (at_process_philosopher_0_state_4) (pending_philosopher_0) (not (at_process_philosopher_0_state_3)) (not (enabled_philosopher_0_forks____pidp1__2__rfork))))
+ (:action block_read_wrong_message_philosopher_0_forks____pidp1__2__rfork_forks_1__fork_empty_0
+  :parameters ()
+  :precondition (and (queue_head_msg_forks_1__empty) (settled_forks_1_) (activate_philosopher_0_forks____pidp1__2__rfork))
+  :effect (and (blocked_trans_philosopher_0_forks____pidp1__2__rfork) (not (enabled_philosopher_0_forks____pidp1__2__rfork)) (not (activate_philosopher_0_forks____pidp1__2__rfork)) (not (settled_forks_1_))))
+ (:action block_read_wrong_message_philosopher_1_forks____pidp1__2__rfork_forks_0__fork_empty_0
+  :parameters ()
+  :precondition (and (queue_head_msg_forks_0__empty) (settled_forks_0_) (activate_philosopher_1_forks____pidp1__2__rfork))
+  :effect (and (blocked_trans_philosopher_1_forks____pidp1__2__rfork) (not (enabled_philosopher_1_forks____pidp1__2__rfork)) (not (activate_philosopher_1_forks____pidp1__2__rfork)) (not (settled_forks_0_))))
+ (:action block_read_queue_empty_philosopher_0_forks____pidp1__2__rfork_forks_1__fork_zero_0
+  :parameters ()
+  :precondition (and (queue_size_forks_1__zero) (settled_forks_1_) (activate_philosopher_0_forks____pidp1__2__rfork))
+  :effect (and (blocked_trans_philosopher_0_forks____pidp1__2__rfork) (not (enabled_philosopher_0_forks____pidp1__2__rfork)) (not (activate_philosopher_0_forks____pidp1__2__rfork)) (not (settled_forks_1_))))
+ (:action block_read_queue_empty_philosopher_1_forks____pidp1__2__rfork_forks_0__fork_zero_0
+  :parameters ()
+  :precondition (and (queue_size_forks_0__zero) (settled_forks_0_) (activate_philosopher_1_forks____pidp1__2__rfork))
+  :effect (and (blocked_trans_philosopher_1_forks____pidp1__2__rfork) (not (enabled_philosopher_1_forks____pidp1__2__rfork)) (not (activate_philosopher_1_forks____pidp1__2__rfork)) (not (settled_forks_0_))))
+ (:action queue_read_philosopher_0_forks____pidp1__2__rfork_forks_1__fork_0
+  :parameters ()
+  :precondition (and (queue_head_msg_forks_1__fork) (settled_forks_1_) (activate_philosopher_0_forks____pidp1__2__rfork))
+  :effect (and (advance_head_forks_1_) (enabled_philosopher_0_forks____pidp1__2__rfork) (not (blocked_trans_philosopher_0_forks__pid_wfork)) (not (blocked_trans_philosopher_0_forks__pid_rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__wfork)) (not (blocked_trans_philosopher_1_forks__pid_wfork)) (not (blocked_trans_philosopher_1_forks__pid_rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__wfork)) (not (blocked_philosopher_0)) (not (blocked_philosopher_1)) (not (activate_philosopher_0_forks____pidp1__2__rfork)) (not (settled_forks_1_))))
+ (:action queue_read_philosopher_1_forks____pidp1__2__rfork_forks_0__fork_0
+  :parameters ()
+  :precondition (and (queue_head_msg_forks_0__fork) (settled_forks_0_) (activate_philosopher_1_forks____pidp1__2__rfork))
+  :effect (and (advance_head_forks_0_) (enabled_philosopher_1_forks____pidp1__2__rfork) (not (blocked_trans_philosopher_0_forks__pid_wfork)) (not (blocked_trans_philosopher_0_forks__pid_rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__wfork)) (not (blocked_trans_philosopher_1_forks__pid_wfork)) (not (blocked_trans_philosopher_1_forks__pid_rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__wfork)) (not (blocked_philosopher_0)) (not (blocked_philosopher_1)) (not (activate_philosopher_1_forks____pidp1__2__rfork)) (not (settled_forks_0_))))
+ (:action block_philosopher_1_state_6_philosopher_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_1_state_6) (blocked_trans_philosopher_1_forks__pid_rfork))
+  :effect (and (blocked_philosopher_1)))
+ (:action block_philosopher_1_state_1_philosopher_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_1_state_1) (blocked_trans_philosopher_1_forks__pid_wfork))
+  :effect (and (blocked_philosopher_1)))
+ (:action block_philosopher_0_state_6_philosopher_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_0_state_6) (blocked_trans_philosopher_0_forks__pid_rfork))
+  :effect (and (blocked_philosopher_0)))
+ (:action block_philosopher_0_state_1_philosopher_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_0_state_1) (blocked_trans_philosopher_0_forks__pid_wfork))
+  :effect (and (blocked_philosopher_0)))
+ (:action activate_trans_philosopher_0_philosopher_forks____pidp1__2__rfork_state_3_state_4_0
+  :parameters ()
+  :precondition (and (pending_philosopher_0) (at_process_philosopher_0_state_3) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (activate_philosopher_0_forks____pidp1__2__rfork) (not (pending_philosopher_0))))
+ (:action activate_trans_philosopher_1_philosopher_forks____pidp1__2__rfork_state_3_state_4_0
+  :parameters ()
+  :precondition (and (pending_philosopher_1) (at_process_philosopher_1_state_3) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (activate_philosopher_1_forks____pidp1__2__rfork) (not (pending_philosopher_1))))
+ (:action perform_trans_philosopher_1_philosopher_forks__pid_rfork_state_6_state_3_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_1_state_6) (enabled_philosopher_1_forks__pid_rfork) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (at_process_philosopher_1_state_3) (pending_philosopher_1) (not (at_process_philosopher_1_state_6)) (not (enabled_philosopher_1_forks__pid_rfork))))
+ (:action perform_trans_philosopher_0_philosopher_forks__pid_rfork_state_6_state_3_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_0_state_6) (enabled_philosopher_0_forks__pid_rfork) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (at_process_philosopher_0_state_3) (pending_philosopher_0) (not (at_process_philosopher_0_state_6)) (not (enabled_philosopher_0_forks__pid_rfork))))
+ (:action advance_queue_head_forks_0__queue_1_qs_0_qs_0_fork_one_zero_0
+  :parameters ()
+  :precondition (and (queue_size_forks_0__one) (queue_msg_forks_0__qs_0_fork) (advance_head_forks_0_) (queue_head_forks_0__qs_0))
+  :effect (and (settled_forks_0_) (queue_head_forks_0__qs_0) (queue_head_msg_forks_0__fork) (queue_size_forks_0__zero) (not (advance_head_forks_0_)) (not (queue_size_forks_0__one))))
+ (:action advance_queue_head_forks_1__queue_1_qs_0_qs_0_fork_one_zero_0
+  :parameters ()
+  :precondition (and (queue_size_forks_1__one) (queue_msg_forks_1__qs_0_fork) (advance_head_forks_1_) (queue_head_forks_1__qs_0))
+  :effect (and (settled_forks_1_) (queue_head_forks_1__qs_0) (queue_head_msg_forks_1__fork) (queue_size_forks_1__zero) (not (advance_head_forks_1_)) (not (queue_size_forks_1__one))))
+ (:action block_read_wrong_message_philosopher_0_forks__pid_rfork_forks_0__fork_empty_0
+  :parameters ()
+  :precondition (and (queue_head_msg_forks_0__empty) (settled_forks_0_) (activate_philosopher_0_forks__pid_rfork))
+  :effect (and (blocked_trans_philosopher_0_forks__pid_rfork) (not (enabled_philosopher_0_forks__pid_rfork)) (not (activate_philosopher_0_forks__pid_rfork)) (not (settled_forks_0_))))
+ (:action block_read_wrong_message_philosopher_1_forks__pid_rfork_forks_1__fork_empty_0
+  :parameters ()
+  :precondition (and (queue_head_msg_forks_1__empty) (settled_forks_1_) (activate_philosopher_1_forks__pid_rfork))
+  :effect (and (blocked_trans_philosopher_1_forks__pid_rfork) (not (enabled_philosopher_1_forks__pid_rfork)) (not (activate_philosopher_1_forks__pid_rfork)) (not (settled_forks_1_))))
+ (:action block_write_philosopher_0_forks__pid_wfork_forks_0__queue_1_fork_one_0
+  :parameters ()
+  :precondition (and (queue_size_forks_0__one) (settled_forks_0_) (activate_philosopher_0_forks__pid_wfork))
+  :effect (and (blocked_trans_philosopher_0_forks__pid_wfork) (not (enabled_philosopher_0_forks__pid_wfork)) (not (activate_philosopher_0_forks__pid_wfork)) (not (settled_forks_0_))))
+ (:action block_write_philosopher_1_forks__pid_wfork_forks_1__queue_1_fork_one_0
+  :parameters ()
+  :precondition (and (queue_size_forks_1__one) (settled_forks_1_) (activate_philosopher_1_forks__pid_wfork))
+  :effect (and (blocked_trans_philosopher_1_forks__pid_wfork) (not (enabled_philosopher_1_forks__pid_wfork)) (not (activate_philosopher_1_forks__pid_wfork)) (not (settled_forks_1_))))
+ (:action block_read_queue_empty_philosopher_0_forks__pid_rfork_forks_0__fork_zero_0
+  :parameters ()
+  :precondition (and (queue_size_forks_0__zero) (settled_forks_0_) (activate_philosopher_0_forks__pid_rfork))
+  :effect (and (blocked_trans_philosopher_0_forks__pid_rfork) (not (enabled_philosopher_0_forks__pid_rfork)) (not (activate_philosopher_0_forks__pid_rfork)) (not (settled_forks_0_))))
+ (:action block_read_queue_empty_philosopher_1_forks__pid_rfork_forks_1__fork_zero_0
+  :parameters ()
+  :precondition (and (queue_size_forks_1__zero) (settled_forks_1_) (activate_philosopher_1_forks__pid_rfork))
+  :effect (and (blocked_trans_philosopher_1_forks__pid_rfork) (not (enabled_philosopher_1_forks__pid_rfork)) (not (activate_philosopher_1_forks__pid_rfork)) (not (settled_forks_1_))))
+ (:action queue_read_philosopher_0_forks__pid_rfork_forks_0__fork_0
+  :parameters ()
+  :precondition (and (queue_head_msg_forks_0__fork) (settled_forks_0_) (activate_philosopher_0_forks__pid_rfork))
+  :effect (and (advance_head_forks_0_) (enabled_philosopher_0_forks__pid_rfork) (not (blocked_trans_philosopher_0_forks__pid_wfork)) (not (blocked_trans_philosopher_0_forks__pid_rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__wfork)) (not (blocked_trans_philosopher_1_forks__pid_wfork)) (not (blocked_trans_philosopher_1_forks__pid_rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__wfork)) (not (blocked_philosopher_0)) (not (blocked_philosopher_1)) (not (activate_philosopher_0_forks__pid_rfork)) (not (settled_forks_0_))))
+ (:action queue_read_philosopher_1_forks__pid_rfork_forks_1__fork_0
+  :parameters ()
+  :precondition (and (queue_head_msg_forks_1__fork) (settled_forks_1_) (activate_philosopher_1_forks__pid_rfork))
+  :effect (and (advance_head_forks_1_) (enabled_philosopher_1_forks__pid_rfork) (not (blocked_trans_philosopher_0_forks__pid_wfork)) (not (blocked_trans_philosopher_0_forks__pid_rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__wfork)) (not (blocked_trans_philosopher_1_forks__pid_wfork)) (not (blocked_trans_philosopher_1_forks__pid_rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__wfork)) (not (blocked_philosopher_0)) (not (blocked_philosopher_1)) (not (activate_philosopher_1_forks__pid_rfork)) (not (settled_forks_1_))))
+ (:action activate_trans_philosopher_0_philosopher_forks__pid_rfork_state_6_state_3_0
+  :parameters ()
+  :precondition (and (pending_philosopher_0) (at_process_philosopher_0_state_6) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (activate_philosopher_0_forks__pid_rfork) (not (pending_philosopher_0))))
+ (:action activate_trans_philosopher_1_philosopher_forks__pid_rfork_state_6_state_3_0
+  :parameters ()
+  :precondition (and (pending_philosopher_1) (at_process_philosopher_1_state_6) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (activate_philosopher_1_forks__pid_rfork) (not (pending_philosopher_1))))
+ (:action perform_trans_philosopher_1_philosopher_forks__pid_wfork_state_1_state_6_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_1_state_1) (enabled_philosopher_1_forks__pid_wfork) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (at_process_philosopher_1_state_6) (pending_philosopher_1) (not (at_process_philosopher_1_state_1)) (not (enabled_philosopher_1_forks__pid_wfork))))
+ (:action perform_trans_philosopher_0_philosopher_forks__pid_wfork_state_1_state_6_0
+  :parameters ()
+  :precondition (and (at_process_philosopher_0_state_1) (enabled_philosopher_0_forks__pid_wfork) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (at_process_philosopher_0_state_6) (pending_philosopher_0) (not (at_process_philosopher_0_state_1)) (not (enabled_philosopher_0_forks__pid_wfork))))
+ (:action advance_empty_queue_tail_forks_0__queue_1_qs_0_qs_0_fork_fork_zero_one_0
+  :parameters ()
+  :precondition (and (queue_size_forks_0__zero) (queue_head_msg_forks_0__fork) (queue_tail_msg_forks_0__fork) (advance_tail_forks_0_) (queue_tail_forks_0__qs_0))
+  :effect (and (settled_forks_0_) (queue_tail_forks_0__qs_0) (queue_msg_forks_0__qs_0_fork) (queue_head_msg_forks_0__fork) (queue_size_forks_0__one) (not (advance_tail_forks_0_)) (not (queue_size_forks_0__zero))))
+ (:action advance_empty_queue_tail_forks_0__queue_1_qs_0_qs_0_fork_empty_zero_one_0
+  :parameters ()
+  :precondition (and (queue_size_forks_0__zero) (queue_head_msg_forks_0__empty) (queue_tail_msg_forks_0__fork) (advance_tail_forks_0_) (queue_tail_forks_0__qs_0))
+  :effect (and (settled_forks_0_) (queue_tail_forks_0__qs_0) (queue_msg_forks_0__qs_0_fork) (queue_head_msg_forks_0__fork) (queue_size_forks_0__one) (not (advance_tail_forks_0_)) (not (queue_head_msg_forks_0__empty)) (not (queue_size_forks_0__zero))))
+ (:action advance_empty_queue_tail_forks_1__queue_1_qs_0_qs_0_fork_fork_zero_one_0
+  :parameters ()
+  :precondition (and (queue_size_forks_1__zero) (queue_head_msg_forks_1__fork) (queue_tail_msg_forks_1__fork) (advance_tail_forks_1_) (queue_tail_forks_1__qs_0))
+  :effect (and (settled_forks_1_) (queue_tail_forks_1__qs_0) (queue_msg_forks_1__qs_0_fork) (queue_head_msg_forks_1__fork) (queue_size_forks_1__one) (not (advance_tail_forks_1_)) (not (queue_size_forks_1__zero))))
+ (:action advance_empty_queue_tail_forks_1__queue_1_qs_0_qs_0_fork_empty_zero_one_0
+  :parameters ()
+  :precondition (and (queue_size_forks_1__zero) (queue_head_msg_forks_1__empty) (queue_tail_msg_forks_1__fork) (advance_tail_forks_1_) (queue_tail_forks_1__qs_0))
+  :effect (and (settled_forks_1_) (queue_tail_forks_1__qs_0) (queue_msg_forks_1__qs_0_fork) (queue_head_msg_forks_1__fork) (queue_size_forks_1__one) (not (advance_tail_forks_1_)) (not (queue_head_msg_forks_1__empty)) (not (queue_size_forks_1__zero))))
+ (:action queue_write_philosopher_0_forks__pid_wfork_forks_0__fork_0
+  :parameters ()
+  :precondition (and (settled_forks_0_) (activate_philosopher_0_forks__pid_wfork))
+  :effect (and (enabled_philosopher_0_forks__pid_wfork) (advance_tail_forks_0_) (queue_tail_msg_forks_0__fork) (not (blocked_trans_philosopher_0_forks__pid_wfork)) (not (blocked_trans_philosopher_0_forks__pid_rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__wfork)) (not (blocked_trans_philosopher_1_forks__pid_wfork)) (not (blocked_trans_philosopher_1_forks__pid_rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__wfork)) (not (blocked_philosopher_0)) (not (blocked_philosopher_1)) (not (settled_forks_0_)) (not (activate_philosopher_0_forks__pid_wfork))))
+ (:action queue_write_philosopher_1_forks__pid_wfork_forks_1__fork_0
+  :parameters ()
+  :precondition (and (settled_forks_1_) (activate_philosopher_1_forks__pid_wfork))
+  :effect (and (enabled_philosopher_1_forks__pid_wfork) (advance_tail_forks_1_) (queue_tail_msg_forks_1__fork) (not (blocked_trans_philosopher_0_forks__pid_wfork)) (not (blocked_trans_philosopher_0_forks__pid_rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_0_forks____pidp1__2__wfork)) (not (blocked_trans_philosopher_1_forks__pid_wfork)) (not (blocked_trans_philosopher_1_forks__pid_rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__rfork)) (not (blocked_trans_philosopher_1_forks____pidp1__2__wfork)) (not (blocked_philosopher_0)) (not (blocked_philosopher_1)) (not (settled_forks_1_)) (not (activate_philosopher_1_forks__pid_wfork))))
+ (:action activate_trans_philosopher_0_philosopher_forks__pid_wfork_state_1_state_6_0
+  :parameters ()
+  :precondition (and (pending_philosopher_0) (at_process_philosopher_0_state_1) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (activate_philosopher_0_forks__pid_wfork) (not (pending_philosopher_0))))
+ (:action activate_trans_philosopher_1_philosopher_forks__pid_wfork_state_1_state_6_0
+  :parameters ()
+  :precondition (and (pending_philosopher_1) (at_process_philosopher_1_state_1) (settled_forks_0_) (settled_forks_1_))
+  :effect (and (activate_philosopher_1_forks__pid_wfork) (not (pending_philosopher_1))))
+)
diff --git a/planning/problems/upf/ipc2004-promela-dining-philosophers-strips/max_depth.txt b/planning/problems/upf/ipc2004-promela-dining-philosophers-strips/max_depth.txt
new file mode 100644
index 00000000..56a6051c
--- /dev/null
+++ b/planning/problems/upf/ipc2004-promela-dining-philosophers-strips/max_depth.txt
@@ -0,0 +1 @@
+1
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2004-promela-dining-philosophers-strips/problem.pddl b/planning/problems/upf/ipc2004-promela-dining-philosophers-strips/problem.pddl
new file mode 100644
index 00000000..1170e85b
--- /dev/null
+++ b/planning/problems/upf/ipc2004-promela-dining-philosophers-strips/problem.pddl
@@ -0,0 +1,5 @@
+(define (problem grounded_strips_instance-problem)
+ (:domain grounded_strips_instance-domain)
+ (:init (settled_forks_1_) (queue_size_forks_1__zero) (queue_head_msg_forks_1__empty) (queue_tail_forks_1__qs_0) (queue_head_forks_1__qs_0) (settled_forks_0_) (queue_size_forks_0__zero) (queue_head_msg_forks_0__empty) (queue_tail_forks_0__qs_0) (queue_head_forks_0__qs_0) (at_process_philosopher_1_state_1) (pending_philosopher_1) (at_process_philosopher_0_state_1) (pending_philosopher_0))
+ (:goal (and (blocked_philosopher_1) (blocked_philosopher_0)))
+)
diff --git a/planning/problems/upf/ipc2004-psr-small-strips/domain.pddl b/planning/problems/upf/ipc2004-psr-small-strips/domain.pddl
new file mode 100644
index 00000000..69c767b4
--- /dev/null
+++ b/planning/problems/upf/ipc2004-psr-small-strips/domain.pddl
@@ -0,0 +1,56 @@
+(define (domain grounded_strips_psr_s2_n1_l2_f50-domain)
+ (:requirements :strips)
+ (:predicates (not_closed_cb1) (updated_cb1) (not_closed_sd1) (not_closed_sd2) (closed_cb1) (closed_sd2) (closed_sd1) (not_updated_cb1) (do_close_sd1_condeffs) (do_wait_cb1_condeffs) (do_normal) (done_0))
+ (:action close_sd2
+  :parameters ()
+  :precondition (and (do_normal) (not_closed_sd2) (updated_cb1))
+  :effect (and (closed_sd2) (not (not_closed_sd2))))
+ (:action close_sd1
+  :parameters ()
+  :precondition (and (do_normal) (not_closed_sd1) (updated_cb1))
+  :effect (and (not (do_normal)) (do_close_sd1_condeffs) (closed_sd1) (not (not_closed_sd1))))
+ (:action close_sd1_condeff0_yes
+  :parameters ()
+  :precondition (and (do_close_sd1_condeffs) (closed_cb1))
+  :effect (and (done_0) (not_closed_cb1) (not (closed_cb1))))
+ (:action close_sd1_condeff0_no_0
+  :parameters ()
+  :precondition (and (do_close_sd1_condeffs) (not_closed_cb1))
+  :effect (and (done_0)))
+ (:action close_sd1_endof_condeffs
+  :parameters ()
+  :precondition (and (do_close_sd1_condeffs) (done_0))
+  :effect (and (do_normal) (not (do_close_sd1_condeffs)) (not (done_0))))
+ (:action close_cb1
+  :parameters ()
+  :precondition (and (do_normal) (not_closed_cb1) (updated_cb1))
+  :effect (and (closed_cb1) (not_updated_cb1) (not (not_closed_cb1)) (not (updated_cb1))))
+ (:action open_sd2
+  :parameters ()
+  :precondition (and (do_normal) (closed_sd2) (updated_cb1))
+  :effect (and (not_closed_sd2) (not (closed_sd2))))
+ (:action open_sd1
+  :parameters ()
+  :precondition (and (do_normal) (closed_sd1) (updated_cb1))
+  :effect (and (not_closed_sd1) (not (closed_sd1))))
+ (:action open_cb1
+  :parameters ()
+  :precondition (and (do_normal) (closed_cb1) (updated_cb1))
+  :effect (and (not_closed_cb1) (not (closed_cb1))))
+ (:action wait_cb1
+  :parameters ()
+  :precondition (and (do_normal) (not_updated_cb1))
+  :effect (and (not (do_normal)) (do_wait_cb1_condeffs) (updated_cb1) (not (not_updated_cb1))))
+ (:action wait_cb1_condeff0_yes
+  :parameters ()
+  :precondition (and (do_wait_cb1_condeffs) (closed_sd1))
+  :effect (and (done_0) (not_closed_cb1) (not (closed_cb1))))
+ (:action wait_cb1_condeff0_no_0
+  :parameters ()
+  :precondition (and (do_wait_cb1_condeffs) (not_closed_sd1))
+  :effect (and (done_0)))
+ (:action wait_cb1_endof_condeffs
+  :parameters ()
+  :precondition (and (do_wait_cb1_condeffs) (done_0))
+  :effect (and (do_normal) (not (do_wait_cb1_condeffs)) (not (done_0))))
+)
diff --git a/planning/problems/upf/ipc2004-psr-small-strips/max_depth.txt b/planning/problems/upf/ipc2004-psr-small-strips/max_depth.txt
new file mode 100644
index 00000000..d8263ee9
--- /dev/null
+++ b/planning/problems/upf/ipc2004-psr-small-strips/max_depth.txt
@@ -0,0 +1 @@
+2
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2004-psr-small-strips/problem.pddl b/planning/problems/upf/ipc2004-psr-small-strips/problem.pddl
new file mode 100644
index 00000000..d1c93458
--- /dev/null
+++ b/planning/problems/upf/ipc2004-psr-small-strips/problem.pddl
@@ -0,0 +1,5 @@
+(define (problem grounded_strips_psr_s2_n1_l2_f50-problem)
+ (:domain grounded_strips_psr_s2_n1_l2_f50-domain)
+ (:init (do_normal) (not_updated_cb1) (closed_sd2) (closed_sd1) (closed_cb1))
+ (:goal (and (do_normal) (closed_cb1) (updated_cb1)))
+)
diff --git a/planning/problems/upf/ipc2004-satellite-strips/domain.pddl b/planning/problems/upf/ipc2004-satellite-strips/domain.pddl
new file mode 100644
index 00000000..5174a674
--- /dev/null
+++ b/planning/problems/upf/ipc2004-satellite-strips/domain.pddl
@@ -0,0 +1,25 @@
+(define (domain strips_sat_x_1-domain)
+ (:requirements :strips :typing)
+ (:types satellite direction instrument mode)
+ (:predicates (on_board ?i - instrument ?s - satellite) (supports ?i - instrument ?m - mode) (pointing ?s - satellite ?d - direction) (power_avail ?s - satellite) (power_on ?i - instrument) (calibrated ?i - instrument) (have_image ?d - direction ?m - mode) (calibration_target ?i - instrument ?d - direction))
+ (:action turn_to
+  :parameters ( ?s - satellite ?d_new - direction ?d_prev - direction)
+  :precondition (and (pointing ?s ?d_prev))
+  :effect (and (pointing ?s ?d_new) (not (pointing ?s ?d_prev))))
+ (:action switch_on
+  :parameters ( ?i - instrument ?s - satellite)
+  :precondition (and (on_board ?i ?s) (power_avail ?s))
+  :effect (and (power_on ?i) (not (calibrated ?i)) (not (power_avail ?s))))
+ (:action switch_off
+  :parameters ( ?i - instrument ?s - satellite)
+  :precondition (and (on_board ?i ?s) (power_on ?i))
+  :effect (and (not (power_on ?i)) (power_avail ?s)))
+ (:action calibrate
+  :parameters ( ?s - satellite ?i - instrument ?d - direction)
+  :precondition (and (on_board ?i ?s) (calibration_target ?i ?d) (pointing ?s ?d) (power_on ?i))
+  :effect (and (calibrated ?i)))
+ (:action take_image
+  :parameters ( ?s - satellite ?d - direction ?i - instrument ?m - mode)
+  :precondition (and (calibrated ?i) (on_board ?i ?s) (supports ?i ?m) (power_on ?i) (pointing ?s ?d))
+  :effect (and (have_image ?d ?m)))
+)
diff --git a/planning/problems/upf/ipc2004-satellite-strips/max_depth.txt b/planning/problems/upf/ipc2004-satellite-strips/max_depth.txt
new file mode 100644
index 00000000..bf0d87ab
--- /dev/null
+++ b/planning/problems/upf/ipc2004-satellite-strips/max_depth.txt
@@ -0,0 +1 @@
+4
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2004-satellite-strips/problem.pddl b/planning/problems/upf/ipc2004-satellite-strips/problem.pddl
new file mode 100644
index 00000000..889b46ce
--- /dev/null
+++ b/planning/problems/upf/ipc2004-satellite-strips/problem.pddl
@@ -0,0 +1,11 @@
+(define (problem strips_sat_x_1-problem)
+ (:domain strips_sat_x_1-domain)
+ (:objects
+   satellite0 - satellite
+   star0 groundstation1 groundstation2 phenomenon3 phenomenon4 star5 phenomenon6 - direction
+   instrument0 - instrument
+   image1 spectrograph2 thermograph0 - mode
+ )
+ (:init (supports instrument0 thermograph0) (calibration_target instrument0 groundstation2) (on_board instrument0 satellite0) (power_avail satellite0) (pointing satellite0 phenomenon6))
+ (:goal (and (have_image phenomenon4 thermograph0) (have_image star5 thermograph0) (have_image phenomenon6 thermograph0)))
+)
diff --git a/planning/problems/upf/ipc2004-umts-temporal-strips/domain.pddl b/planning/problems/upf/ipc2004-umts-temporal-strips/domain.pddl
new file mode 100644
index 00000000..bfb84162
--- /dev/null
+++ b/planning/problems/upf/ipc2004-umts-temporal-strips/domain.pddl
@@ -0,0 +1,46 @@
+(define (domain bs-domain)
+ (:requirements :strips :typing :numeric-fluents :durative-actions)
+ (:types application agent mobile list message network)
+ (:predicates (initiated ?a_new - application ?m - mobile) (qos_params ?a_new - application ?l - list) (trm_ok ?a_new - application ?m - mobile ?l - list) (ct_ok ?a_new - application ?m - mobile ?l - list) (location ?m - mobile) (authentification ?m - mobile) (am_ok ?a_new - application ?m - mobile ?l - list) (aeem_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (rrc_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (rab_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (aeei_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (message_trm ?m - mobile ?ms - message) (message_aeei ?a_new - application ?ms - message) (iu_bearer ?a_new - application ?m - mobile ?l - list) (bs_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (begin_init ?a - agent) (begin_aeei ?a - agent))
+ (:functions (app_cpu ?a_new - application ?m - mobile) (app_display ?a_new - application ?m - mobile) (app_keyboard ?a_new - application ?m - mobile) (app_energy ?a_new - application ?m - mobile) (app_channels ?a_new - application ?m - mobile) (list_pdu ?l - list) (list_ml ?l - list) (time_trm ?a_new - application) (time_ct ?a_new - application) (time_am ?a_new - application) (time_aeem ?a_new - application) (time_rrc ?a_new - application) (time_rrc_negotiation ?a_new - application) (time_rab ?a_new - application) (time_aeei ?a_new - application) (time_bs ?a_new - application) (max_mobile_cpu) (max_d_available) (max_k_available) (max_e_load) (max_mobile_channels_available) (max_num_mobiles) (max_num_calls) (max_mobile_storage) (max_logical_channels) (max_cell_update) (max_handover) (max_active_set_up) (max_ggsn_bitrate) (max_no_pdp) (max_no_apn) (has_mobile_cpu) (has_d_available) (has_k_available) (has_e_load) (has_mobile_channels_available) (has_num_mobiles) (has_num_calls) (has_mobile_storage) (has_logical_channels) (has_cell_update) (has_handover) (has_active_set_up) (has_ggsn_bitrate) (has_max_no_pdp) (has_max_no_apn))
+ (:durative-action trm
+  :parameters ( ?a_new - application ?m - mobile ?l - list)
+  :duration (= ?duration (time_trm ?a_new))
+  :condition (and (at start (initiated ?a_new ?m))(at start (qos_params ?a_new ?l))(at start (<= (has_mobile_cpu) (- (max_mobile_cpu) (app_cpu ?a_new ?m))))(at start (<= (has_d_available) (- (max_d_available) (app_display ?a_new ?m))))(at start (<= (has_k_available) (- (max_k_available) (app_keyboard ?a_new ?m))))(at start (<= (has_e_load) (- (max_e_load) (app_energy ?a_new ?m))))(at start (<= (has_mobile_channels_available) (- (max_mobile_channels_available) (app_channels ?a_new ?m)))))
+  :effect (and (at end (trm_ok ?a_new ?m ?l)) (at end (decrease (has_mobile_cpu) (app_cpu ?a_new ?m))) (at end (decrease (has_d_available) (app_display ?a_new ?m))) (at end (decrease (has_k_available) (app_keyboard ?a_new ?m))) (at end (decrease (has_e_load) (app_energy ?a_new ?m))) (at end (decrease (has_mobile_channels_available) (app_channels ?a_new ?m))) (at start (increase (has_mobile_cpu) (app_cpu ?a_new ?m))) (at start (increase (has_d_available) (app_display ?a_new ?m))) (at start (increase (has_k_available) (app_keyboard ?a_new ?m))) (at start (increase (has_e_load) (app_energy ?a_new ?m))) (at start (increase (has_mobile_channels_available) (app_channels ?a_new ?m)))))
+ (:durative-action ct
+  :parameters ( ?a_new - application ?m - mobile ?l - list)
+  :duration (= ?duration (time_ct ?a_new))
+  :condition (and (at start (trm_ok ?a_new ?m ?l))(at start (qos_params ?a_new ?l))(at start (< (has_num_mobiles) (max_num_mobiles)))(at start (< (has_num_calls) (max_num_calls))))
+  :effect (and (at start (increase (has_num_mobiles) 1)) (at start (increase (has_num_calls) 1)) (at end (decrease (has_num_mobiles) 1)) (at end (decrease (has_num_calls) 1)) (at end (ct_ok ?a_new ?m ?l))))
+ (:durative-action am
+  :parameters ( ?a_new - application ?m - mobile ?l - list)
+  :duration (= ?duration 0)
+  :condition (and (at start (ct_ok ?a_new ?m ?l))(at start (location ?m))(at start (authentification ?m)))
+  :effect (and (at end (am_ok ?a_new ?m ?l))))
+ (:durative-action aeem
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_aeem ?a_new))
+  :condition (and (at start (am_ok ?a_new ?m ?l))(at start (<= (has_mobile_storage) (- (max_mobile_storage) 10)))(at start (begin_init ?a)))
+  :effect (and (at start (increase (has_mobile_storage) 10)) (at end (decrease (has_mobile_storage) 10)) (at end (aeem_ok ?a_new ?m ?l ?a))))
+ (:durative-action rrc
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_rrc ?a_new))
+  :condition (and (at start (ct_ok ?a_new ?m ?l))(at start (aeem_ok ?a_new ?m ?l ?a))(at start (<= (has_logical_channels) (- (max_logical_channels) (app_channels ?a_new ?m))))(at start (<= (has_cell_update) (- (max_cell_update) 2)))(at start (< (has_handover) (max_handover)))(at start (< (has_active_set_up) (max_active_set_up))))
+  :effect (and (at start (increase (has_logical_channels) (app_channels ?a_new ?m))) (at start (increase (has_cell_update) 2)) (at start (increase (has_handover) 1)) (at start (increase (has_active_set_up) 1)) (at end (decrease (has_logical_channels) (app_channels ?a_new ?m))) (at end (decrease (has_cell_update) 2)) (at end (decrease (has_handover) 1)) (at end (decrease (has_active_set_up) 1)) (at end (rrc_ok ?a_new ?m ?l ?a))))
+ (:durative-action rab
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_rab ?a_new))
+  :condition (and (at start (rrc_ok ?a_new ?m ?l ?a)))
+  :effect (and (at end (rab_ok ?a_new ?m ?l ?a))))
+ (:durative-action aeei
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_aeei ?a_new))
+  :condition (and (at start (rab_ok ?a_new ?m ?l ?a))(at start (<= (has_ggsn_bitrate) (- (max_ggsn_bitrate) 128)))(at start (< (has_max_no_pdp) (max_no_pdp)))(at start (< (has_max_no_apn) (max_no_apn)))(at start (begin_aeei ?a)))
+  :effect (and (at end (aeei_ok ?a_new ?m ?l ?a)) (at end (decrease (has_ggsn_bitrate) 128)) (at end (decrease (has_max_no_pdp) 1)) (at end (decrease (has_max_no_apn) 1)) (at start (increase (has_ggsn_bitrate) 128)) (at start (increase (has_max_no_pdp) 1)) (at start (increase (has_max_no_apn) 1))))
+ (:durative-action bs
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?ms1 - message ?ms2 - message ?a - agent)
+  :duration (= ?duration (time_bs ?a_new))
+  :condition (and (at start (initiated ?a_new ?m))(at start (aeei_ok ?a_new ?m ?l ?a))(at start (qos_params ?a_new ?l))(at start (message_trm ?m ?ms1))(at start (message_aeei ?a_new ?ms2)))
+  :effect (and (at end (iu_bearer ?a_new ?m ?l)) (at end (bs_ok ?a_new ?m ?l ?a))))
+)
diff --git a/planning/problems/upf/ipc2004-umts-temporal-strips/max_depth.txt b/planning/problems/upf/ipc2004-umts-temporal-strips/max_depth.txt
new file mode 100644
index 00000000..56a6051c
--- /dev/null
+++ b/planning/problems/upf/ipc2004-umts-temporal-strips/max_depth.txt
@@ -0,0 +1 @@
+1
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2004-umts-temporal-strips/problem.pddl b/planning/problems/upf/ipc2004-umts-temporal-strips/problem.pddl
new file mode 100644
index 00000000..5fbf3ad1
--- /dev/null
+++ b/planning/problems/upf/ipc2004-umts-temporal-strips/problem.pddl
@@ -0,0 +1,13 @@
+(define (problem bs-problem)
+ (:domain bs-domain)
+ (:objects
+   a1 a2 a3 a4 a5 a6 a7 a8 a9 a10 - application
+   ae - agent
+   m1 m2 m3 m4 m5 m6 m7 m8 m9 m10 - mobile
+   l1 l2 l3 l4 l5 l6 l7 l8 l9 l10 - list
+   ms1 ms2 - message
+ )
+ (:init (= (time_trm a1) 69) (= (time_ct a1) 47) (= (time_am a1) 80) (= (time_aeem a1) 61) (= (time_rrc a1) 220) (= (time_rab a1) 61) (= (time_aeei a1) 47) (= (time_bs a1) 31) (= (time_trm a2) 70) (= (time_ct a2) 50) (= (time_am a2) 35) (= (time_aeem a2) 61) (= (time_rrc a2) 179) (= (time_rab a2) 74) (= (time_aeei a2) 84) (= (time_bs a2) 12) (= (time_trm a3) 68) (= (time_ct a3) 50) (= (time_am a3) 35) (= (time_aeem a3) 71) (= (time_rrc a3) 179) (= (time_rab a3) 74) (= (time_aeei a3) 84) (= (time_bs a3) 12) (= (time_trm a4) 68) (= (time_ct a4) 50) (= (time_am a4) 35) (= (time_aeem a4) 71) (= (time_rrc a4) 179) (= (time_rab a4) 74) (= (time_aeei a4) 84) (= (time_bs a4) 12) (= (time_trm a5) 68) (= (time_ct a5) 50) (= (time_am a5) 35) (= (time_aeem a5) 71) (= (time_rrc a5) 179) (= (time_rab a5) 74) (= (time_aeei a5) 84) (= (time_bs a5) 12) (= (time_trm a6) 78) (= (time_ct a6) 50) (= (time_am a6) 65) (= (time_aeem a6) 71) (= (time_rrc a6) 209) (= (time_rab a6) 74) (= (time_aeei a6) 44) (= (time_bs a6) 22) (= (time_trm a7) 68) (= (time_ct a7) 50) (= (time_am a7) 35) (= (time_aeem a7) 71) (= (time_rrc a7) 179) (= (time_rab a7) 74) (= (time_aeei a7) 84) (= (time_bs a7) 12) (= (time_trm a8) 68) (= (time_ct a8) 50) (= (time_am a8) 35) (= (time_aeem a8) 71) (= (time_rrc a8) 179) (= (time_rab a8) 74) (= (time_aeei a8) 84) (= (time_bs a8) 12) (= (time_trm a9) 68) (= (time_ct a9) 50) (= (time_am a9) 35) (= (time_aeem a9) 71) (= (time_rrc a9) 179) (= (time_rab a9) 74) (= (time_aeei a9) 84) (= (time_bs a9) 12) (= (time_trm a10) 68) (= (time_ct a10) 50) (= (time_am a10) 35) (= (time_aeem a10) 71) (= (time_rrc a10) 179) (= (time_rab a10) 74) (= (time_aeei a10) 84) (= (time_bs a10) 12) (location m1) (authentification m1) (location m2) (authentification m2) (location m3) (authentification m3) (location m4) (authentification m4) (location m5) (authentification m5) (location m6) (authentification m6) (location m7) (authentification m7) (location m8) (authentification m8) (location m9) (authentification m9) (location m10) (authentification m10) (initiated a1 m1) (qos_params a1 l1) (= (list_pdu l1) 136) (= (app_cpu a1 m1) 80) (= (app_display a1 m1) 35) (= (app_keyboard a1 m1) 3) (= (app_energy a1 m1) 19) (= (app_channels a1 m1) 6) (message_trm m1 ms1) (message_aeei a1 ms2) (initiated a2 m1) (qos_params a2 l2) (= (list_pdu l2) 68) (= (app_cpu a2 m1) 2) (= (app_display a2 m1) 18) (= (app_keyboard a2 m1) 1) (= (app_energy a2 m1) 15) (= (app_channels a2 m1) 2) (message_aeei a2 ms2) (initiated a3 m1) (qos_params a3 l3) (= (list_pdu l3) 255) (= (app_cpu a3 m1) 14) (= (app_display a3 m1) 14) (= (app_keyboard a3 m1) 1) (= (app_energy a3 m1) 18) (= (app_channels a3 m1) 1) (message_aeei a3 ms2) (initiated a4 m1) (qos_params a4 l4) (= (list_pdu l4) 251) (= (app_cpu a4 m1) 11) (= (app_display a4 m1) 4) (= (app_keyboard a4 m1) 5) (= (app_energy a4 m1) 14) (= (app_channels a4 m1) 1) (message_aeei a4 ms2) (initiated a5 m1) (qos_params a5 l5) (= (list_pdu l5) 264) (= (app_cpu a5 m1) 10) (= (app_display a5 m1) 1) (= (app_keyboard a5 m1) 2) (= (app_energy a5 m1) 4) (= (app_channels a5 m1) 5) (message_aeei a5 ms2) (initiated a6 m1) (qos_params a6 l6) (= (list_pdu l6) 260) (= (app_cpu a6 m1) 2) (= (app_display a6 m1) 13) (= (app_keyboard a6 m1) 1) (= (app_energy a6 m1) 5) (= (app_channels a6 m1) 2) (message_aeei a6 ms2) (initiated a7 m1) (qos_params a7 l7) (= (list_pdu l7) 255) (= (app_cpu a7 m1) 14) (= (app_display a7 m1) 9) (= (app_keyboard a7 m1) 1) (= (app_energy a7 m1) 13) (= (app_channels a7 m1) 1) (message_aeei a7 ms2) (initiated a8 m1) (qos_params a8 l8) (= (list_pdu l8) 251) (= (app_cpu a8 m1) 11) (= (app_display a8 m1) 4) (= (app_keyboard a8 m1) 5) (= (app_energy a8 m1) 9) (= (app_channels a8 m1) 1) (message_aeei a8 ms2) (initiated a9 m1) (qos_params a9 l9) (= (list_pdu l9) 256) (= (app_cpu a9 m1) 10) (= (app_display a9 m1) 5) (= (app_keyboard a9 m1) 1) (= (app_energy a9 m1) 10) (= (app_channels a9 m1) 1) (message_aeei a9 ms2) (initiated a10 m1) (qos_params a10 l10) (= (list_pdu l10) 256) (= (app_cpu a10 m1) 10) (= (app_display a10 m1) 5) (= (app_keyboard a10 m1) 1) (= (app_energy a10 m1) 5) (= (app_channels a10 m1) 1) (message_aeei a10 ms2) (= (max_mobile_cpu) 300) (= (max_d_available) 140) (= (max_k_available) 12) (= (max_e_load) 150) (= (max_mobile_channels_available) 12) (= (max_num_mobiles) 256) (= (max_num_calls) 10) (= (max_mobile_storage) 2000) (= (max_logical_channels) 100) (= (max_cell_update) 10) (= (max_handover) 10) (= (max_active_set_up) 10) (= (max_ggsn_bitrate) 10000) (= (max_no_pdp) 20) (= (max_no_apn) 20) (= (has_mobile_cpu) 0) (= (has_d_available) 0) (= (has_k_available) 0) (= (has_e_load) 0) (= (has_mobile_channels_available) 0) (= (has_num_mobiles) 0) (= (has_num_calls) 0) (= (has_mobile_storage) 0) (= (has_logical_channels) 0) (= (has_cell_update) 0) (= (has_handover) 0) (= (has_active_set_up) 0) (= (has_ggsn_bitrate) 0) (= (has_max_no_pdp) 0) (= (has_max_no_apn) 0) (begin_init ae) (begin_aeei ae))
+ (:goal (and (bs_ok a1 m1 l1 ae)))
+ (:metric minimize (total-time))
+)
diff --git a/planning/problems/upf/ipc2004-umts-temporal-time-windows-compiled-strips/domain.pddl b/planning/problems/upf/ipc2004-umts-temporal-time-windows-compiled-strips/domain.pddl
new file mode 100644
index 00000000..e0ddbda2
--- /dev/null
+++ b/planning/problems/upf/ipc2004-umts-temporal-time-windows-compiled-strips/domain.pddl
@@ -0,0 +1,74 @@
+(define (domain bs-domain)
+ (:requirements :strips :typing :numeric-fluents :durative-actions)
+ (:types application agent mobile list message network)
+ (:constants
+   ae - agent
+ )
+ (:predicates (initiated ?a_new - application ?m - mobile) (qos_params ?a_new - application ?l - list) (trm_ok ?a_new - application ?m - mobile ?l - list) (ct_ok ?a_new - application ?m - mobile ?l - list) (location ?m - mobile) (authentification ?m - mobile) (am_ok ?a_new - application ?m - mobile ?l - list) (aeem_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (rrc_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (rab_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (aeei_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (message_trm ?m - mobile ?ms - message) (message_aeei ?a_new - application ?ms - message) (iu_bearer ?a_new - application ?m - mobile ?l - list) (bs_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (begin_init ?a - agent) (begin_aeei ?a - agent) (m) (n) (p0) (p1) (p2) (p3) (p4) (pn))
+ (:functions (app_cpu ?a_new - application ?m - mobile) (app_display ?a_new - application ?m - mobile) (app_keyboard ?a_new - application ?m - mobile) (app_energy ?a_new - application ?m - mobile) (app_channels ?a_new - application ?m - mobile) (list_pdu ?l - list) (list_ml ?l - list) (time_trm ?a_new - application) (time_ct ?a_new - application) (time_am ?a_new - application) (time_aeem ?a_new - application) (time_rrc ?a_new - application) (time_rrc_negotiation ?a_new - application) (time_rab ?a_new - application) (time_aeei ?a_new - application) (time_bs ?a_new - application) (max_mobile_cpu) (max_d_available) (max_k_available) (max_e_load) (max_mobile_channels_available) (max_num_mobiles) (max_num_calls) (max_mobile_storage) (max_logical_channels) (max_cell_update) (max_handover) (max_active_set_up) (max_ggsn_bitrate) (max_no_pdp) (max_no_apn) (has_mobile_cpu) (has_d_available) (has_k_available) (has_e_load) (has_mobile_channels_available) (has_num_mobiles) (has_num_calls) (has_mobile_storage) (has_logical_channels) (has_cell_update) (has_handover) (has_active_set_up) (has_ggsn_bitrate) (has_max_no_pdp) (has_max_no_apn))
+ (:durative-action trm
+  :parameters ( ?a_new - application ?m - mobile ?l - list)
+  :duration (= ?duration (time_trm ?a_new))
+  :condition (and (at start (n))(at start (initiated ?a_new ?m))(at start (qos_params ?a_new ?l))(at start (<= (has_mobile_cpu) (- (max_mobile_cpu) (app_cpu ?a_new ?m))))(at start (<= (has_d_available) (- (max_d_available) (app_display ?a_new ?m))))(at start (<= (has_k_available) (- (max_k_available) (app_keyboard ?a_new ?m))))(at start (<= (has_e_load) (- (max_e_load) (app_energy ?a_new ?m))))(at start (<= (has_mobile_channels_available) (- (max_mobile_channels_available) (app_channels ?a_new ?m)))))
+  :effect (and (at end (trm_ok ?a_new ?m ?l)) (at end (decrease (has_mobile_cpu) (app_cpu ?a_new ?m))) (at end (decrease (has_d_available) (app_display ?a_new ?m))) (at end (decrease (has_k_available) (app_keyboard ?a_new ?m))) (at end (decrease (has_e_load) (app_energy ?a_new ?m))) (at end (decrease (has_mobile_channels_available) (app_channels ?a_new ?m))) (at start (increase (has_mobile_cpu) (app_cpu ?a_new ?m))) (at start (increase (has_d_available) (app_display ?a_new ?m))) (at start (increase (has_k_available) (app_keyboard ?a_new ?m))) (at start (increase (has_e_load) (app_energy ?a_new ?m))) (at start (increase (has_mobile_channels_available) (app_channels ?a_new ?m)))))
+ (:durative-action ct
+  :parameters ( ?a_new - application ?m - mobile ?l - list)
+  :duration (= ?duration (time_ct ?a_new))
+  :condition (and (at start (n))(at start (trm_ok ?a_new ?m ?l))(at start (qos_params ?a_new ?l))(at start (< (has_num_mobiles) (max_num_mobiles)))(at start (< (has_num_calls) (max_num_calls))))
+  :effect (and (at start (increase (has_num_mobiles) 1)) (at start (increase (has_num_calls) 1)) (at end (decrease (has_num_mobiles) 1)) (at end (decrease (has_num_calls) 1)) (at end (ct_ok ?a_new ?m ?l))))
+ (:durative-action am
+  :parameters ( ?a_new - application ?m - mobile ?l - list)
+  :duration (= ?duration 0)
+  :condition (and (at start (n))(at start (ct_ok ?a_new ?m ?l))(at start (location ?m))(at start (authentification ?m)))
+  :effect (and (at end (am_ok ?a_new ?m ?l))))
+ (:durative-action aeem
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_aeem ?a_new))
+  :condition (and (at start (n))(at start (am_ok ?a_new ?m ?l))(at start (<= (has_mobile_storage) (- (max_mobile_storage) 10)))(at start (begin_init ?a)))
+  :effect (and (at start (increase (has_mobile_storage) 10)) (at end (decrease (has_mobile_storage) 10)) (at end (aeem_ok ?a_new ?m ?l ?a))))
+ (:durative-action rrc
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_rrc ?a_new))
+  :condition (and (at start (n))(at start (ct_ok ?a_new ?m ?l))(at start (aeem_ok ?a_new ?m ?l ?a))(at start (<= (has_logical_channels) (- (max_logical_channels) (app_channels ?a_new ?m))))(at start (<= (has_cell_update) (- (max_cell_update) 2)))(at start (< (has_handover) (max_handover)))(at start (< (has_active_set_up) (max_active_set_up))))
+  :effect (and (at start (increase (has_logical_channels) (app_channels ?a_new ?m))) (at start (increase (has_cell_update) 2)) (at start (increase (has_handover) 1)) (at start (increase (has_active_set_up) 1)) (at end (decrease (has_logical_channels) (app_channels ?a_new ?m))) (at end (decrease (has_cell_update) 2)) (at end (decrease (has_handover) 1)) (at end (decrease (has_active_set_up) 1)) (at end (rrc_ok ?a_new ?m ?l ?a))))
+ (:durative-action rab
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_rab ?a_new))
+  :condition (and (at start (n))(at start (rrc_ok ?a_new ?m ?l ?a)))
+  :effect (and (at end (rab_ok ?a_new ?m ?l ?a))))
+ (:durative-action aeei
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_aeei ?a_new))
+  :condition (and (at start (n))(at start (rab_ok ?a_new ?m ?l ?a))(at start (<= (has_ggsn_bitrate) (- (max_ggsn_bitrate) 128)))(at start (< (has_max_no_pdp) (max_no_pdp)))(at start (< (has_max_no_apn) (max_no_apn)))(at start (begin_aeei ?a)))
+  :effect (and (at end (aeei_ok ?a_new ?m ?l ?a)) (at end (decrease (has_ggsn_bitrate) 128)) (at end (decrease (has_max_no_pdp) 1)) (at end (decrease (has_max_no_apn) 1)) (at start (increase (has_ggsn_bitrate) 128)) (at start (increase (has_max_no_pdp) 1)) (at start (increase (has_max_no_apn) 1))))
+ (:durative-action bs
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?ms1 - message ?ms2 - message ?a - agent)
+  :duration (= ?duration (time_bs ?a_new))
+  :condition (and (at start (n))(at start (initiated ?a_new ?m))(at start (aeei_ok ?a_new ?m ?l ?a))(at start (qos_params ?a_new ?l))(at start (message_trm ?m ?ms1))(at start (message_aeei ?a_new ?ms2)))
+  :effect (and (at end (iu_bearer ?a_new ?m ?l)) (at end (bs_ok ?a_new ?m ?l ?a))))
+ (:durative-action timedliteralwrapper
+  :parameters ()
+  :duration (= ?duration 2151)
+  :condition (and (at start (m)))
+  :effect (and (at start (not (m))) (at start (n)) (at start (p0)) (at start (pn)) (at end (not (pn)))))
+ (:durative-action timedliteral1
+  :parameters ()
+  :duration (= ?duration 70)
+  :condition (and (over all (p0))(over all (pn)))
+  :effect (and (at end (p1)) (at end (not (p0))) (at end (begin_init ae))))
+ (:durative-action timedliteral2
+  :parameters ()
+  :duration (= ?duration 691)
+  :condition (and (over all (p1))(over all (pn)))
+  :effect (and (at end (p2)) (at end (not (p1))) (at end (not (begin_init ae)))))
+ (:durative-action timedliteral3
+  :parameters ()
+  :duration (= ?duration 669)
+  :condition (and (over all (p2))(over all (pn)))
+  :effect (and (at end (p3)) (at end (not (p2))) (at end (begin_aeei ae))))
+ (:durative-action timedliteral4
+  :parameters ()
+  :duration (= ?duration 721)
+  :condition (and (over all (p3)))
+  :effect (and (at end (p4)) (at end (not (p3))) (at end (not (begin_aeei ae)))))
+)
diff --git a/planning/problems/upf/ipc2004-umts-temporal-time-windows-compiled-strips/max_depth.txt b/planning/problems/upf/ipc2004-umts-temporal-time-windows-compiled-strips/max_depth.txt
new file mode 100644
index 00000000..56a6051c
--- /dev/null
+++ b/planning/problems/upf/ipc2004-umts-temporal-time-windows-compiled-strips/max_depth.txt
@@ -0,0 +1 @@
+1
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2004-umts-temporal-time-windows-compiled-strips/problem.pddl b/planning/problems/upf/ipc2004-umts-temporal-time-windows-compiled-strips/problem.pddl
new file mode 100644
index 00000000..ed5ff8e0
--- /dev/null
+++ b/planning/problems/upf/ipc2004-umts-temporal-time-windows-compiled-strips/problem.pddl
@@ -0,0 +1,12 @@
+(define (problem bs-problem)
+ (:domain bs-domain)
+ (:objects
+   a1 a2 a3 a4 a5 a6 a7 a8 a9 a10 - application
+   m1 m2 m3 m4 m5 m6 m7 m8 m9 m10 - mobile
+   l1 l2 l3 l4 l5 l6 l7 l8 l9 l10 - list
+   ms1 ms2 - message
+ )
+ (:init (= (time_trm a1) 69) (= (time_ct a1) 47) (= (time_am a1) 80) (= (time_aeem a1) 61) (= (time_rrc a1) 220) (= (time_rab a1) 61) (= (time_aeei a1) 47) (= (time_bs a1) 31) (= (time_trm a2) 70) (= (time_ct a2) 50) (= (time_am a2) 35) (= (time_aeem a2) 63) (= (time_rrc a2) 185) (= (time_rab a2) 74) (= (time_aeei a2) 79) (= (time_bs a2) 13) (= (time_trm a3) 58) (= (time_ct a3) 56) (= (time_am a3) 49) (= (time_aeem a3) 69) (= (time_rrc a3) 178) (= (time_rab a3) 63) (= (time_aeei a3) 89) (= (time_bs a3) 19) (= (time_trm a4) 59) (= (time_ct a4) 48) (= (time_am a4) 49) (= (time_aeem a4) 65) (= (time_rrc a4) 185) (= (time_rab a4) 62) (= (time_aeei a4) 88) (= (time_bs a4) 30) (= (time_trm a5) 62) (= (time_ct a5) 48) (= (time_am a5) 43) (= (time_aeem a5) 62) (= (time_rrc a5) 187) (= (time_rab a5) 64) (= (time_aeei a5) 75) (= (time_bs a5) 21) (= (time_trm a6) 72) (= (time_ct a6) 44) (= (time_am a6) 72) (= (time_aeem a6) 65) (= (time_rrc a6) 219) (= (time_rab a6) 66) (= (time_aeei a6) 34) (= (time_bs a6) 30) (= (time_trm a7) 55) (= (time_ct a7) 53) (= (time_am a7) 45) (= (time_aeem a7) 74) (= (time_rrc a7) 179) (= (time_rab a7) 63) (= (time_aeei a7) 78) (= (time_bs a7) 26) (= (time_trm a8) 69) (= (time_ct a8) 49) (= (time_am a8) 38) (= (time_aeem a8) 63) (= (time_rrc a8) 189) (= (time_rab a8) 69) (= (time_aeei a8) 79) (= (time_bs a8) 18) (= (time_trm a9) 69) (= (time_ct a9) 45) (= (time_am a9) 45) (= (time_aeem a9) 62) (= (time_rrc a9) 188) (= (time_rab a9) 80) (= (time_aeei a9) 82) (= (time_bs a9) 18) (= (time_trm a10) 63) (= (time_ct a10) 42) (= (time_am a10) 47) (= (time_aeem a10) 64) (= (time_rrc a10) 175) (= (time_rab a10) 71) (= (time_aeei a10) 82) (= (time_bs a10) 14) (location m1) (authentification m1) (location m2) (authentification m2) (location m3) (authentification m3) (location m4) (authentification m4) (location m5) (authentification m5) (location m6) (authentification m6) (location m7) (authentification m7) (location m8) (authentification m8) (location m9) (authentification m9) (location m10) (authentification m10) (initiated a1 m1) (qos_params a1 l1) (= (list_pdu l1) 130) (= (app_cpu a1 m1) 75) (= (app_display a1 m1) 49) (= (app_keyboard a1 m1) 1) (= (app_energy a1 m1) 14) (= (app_channels a1 m1) 2) (message_trm m1 ms1) (message_aeei a1 ms2) (initiated a2 m1) (qos_params a2 l2) (= (list_pdu l2) 59) (= (app_cpu a2 m1) 13) (= (app_display a2 m1) 15) (= (app_keyboard a2 m1) 5) (= (app_energy a2 m1) 19) (= (app_channels a2 m1) 1) (message_aeei a2 ms2) (initiated a3 m1) (qos_params a3 l3) (= (list_pdu l3) 254) (= (app_cpu a3 m1) 16) (= (app_display a3 m1) 19) (= (app_keyboard a3 m1) 1) (= (app_energy a3 m1) 8) (= (app_channels a3 m1) 1) (message_aeei a3 ms2) (initiated a4 m1) (qos_params a4 l4) (= (list_pdu l4) 265) (= (app_cpu a4 m1) 9) (= (app_display a4 m1) 4) (= (app_keyboard a4 m1) 1) (= (app_energy a4 m1) 19) (= (app_channels a4 m1) 1) (message_aeei a4 ms2) (initiated a5 m1) (qos_params a5 l5) (= (list_pdu l5) 261) (= (app_cpu a5 m1) 2) (= (app_display a5 m1) 13) (= (app_keyboard a5 m1) 11) (= (app_energy a5 m1) 7) (= (app_channels a5 m1) 1) (message_aeei a5 ms2) (initiated a6 m1) (qos_params a6 l6) (= (list_pdu l6) 259) (= (app_cpu a6 m1) 2) (= (app_display a6 m1) 12) (= (app_keyboard a6 m1) 1) (= (app_energy a6 m1) 5) (= (app_channels a6 m1) 2) (message_aeei a6 ms2) (initiated a7 m1) (qos_params a7 l7) (= (list_pdu l7) 258) (= (app_cpu a7 m1) 4) (= (app_display a7 m1) 7) (= (app_keyboard a7 m1) 1) (= (app_energy a7 m1) 14) (= (app_channels a7 m1) 1) (message_aeei a7 ms2) (initiated a8 m1) (qos_params a8 l8) (= (list_pdu l8) 250) (= (app_cpu a8 m1) 10) (= (app_display a8 m1) 1) (= (app_keyboard a8 m1) 4) (= (app_energy a8 m1) 10) (= (app_channels a8 m1) 5) (message_aeei a8 ms2) (initiated a9 m1) (qos_params a9 l9) (= (list_pdu l9) 256) (= (app_cpu a9 m1) 10) (= (app_display a9 m1) 5) (= (app_keyboard a9 m1) 1) (= (app_energy a9 m1) 10) (= (app_channels a9 m1) 1) (message_aeei a9 ms2) (initiated a10 m1) (qos_params a10 l10) (= (list_pdu l10) 256) (= (app_cpu a10 m1) 10) (= (app_display a10 m1) 5) (= (app_keyboard a10 m1) 1) (= (app_energy a10 m1) 5) (= (app_channels a10 m1) 1) (message_aeei a10 ms2) (= (max_mobile_cpu) 300) (= (max_d_available) 140) (= (max_k_available) 12) (= (max_e_load) 150) (= (max_mobile_channels_available) 12) (= (max_num_mobiles) 256) (= (max_num_calls) 10) (= (max_mobile_storage) 2000) (= (max_logical_channels) 100) (= (max_cell_update) 10) (= (max_handover) 10) (= (max_active_set_up) 10) (= (max_ggsn_bitrate) 10000) (= (max_no_pdp) 20) (= (max_no_apn) 20) (= (has_mobile_cpu) 0) (= (has_d_available) 0) (= (has_k_available) 0) (= (has_e_load) 0) (= (has_mobile_channels_available) 0) (= (has_num_mobiles) 0) (= (has_num_calls) 0) (= (has_mobile_storage) 0) (= (has_logical_channels) 0) (= (has_cell_update) 0) (= (has_handover) 0) (= (has_active_set_up) 0) (= (has_ggsn_bitrate) 0) (= (has_max_no_pdp) 0) (= (has_max_no_apn) 0) (m))
+ (:goal (and (p4) (bs_ok a1 m1 l1 ae)))
+ (:metric minimize (total-time))
+)
diff --git a/planning/problems/upf/ipc2004-umts-temporal-time-windows-strips/domain.pddl b/planning/problems/upf/ipc2004-umts-temporal-time-windows-strips/domain.pddl
new file mode 100644
index 00000000..6b6e6d73
--- /dev/null
+++ b/planning/problems/upf/ipc2004-umts-temporal-time-windows-strips/domain.pddl
@@ -0,0 +1,46 @@
+(define (domain bs-domain)
+ (:requirements :strips :typing :numeric-fluents :durative-actions :timed-initial-literals)
+ (:types application agent mobile list message network)
+ (:predicates (initiated ?a_new - application ?m - mobile) (qos_params ?a_new - application ?l - list) (trm_ok ?a_new - application ?m - mobile ?l - list) (ct_ok ?a_new - application ?m - mobile ?l - list) (location ?m - mobile) (authentification ?m - mobile) (am_ok ?a_new - application ?m - mobile ?l - list) (aeem_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (rrc_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (rab_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (aeei_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (message_trm ?m - mobile ?ms - message) (message_aeei ?a_new - application ?ms - message) (iu_bearer ?a_new - application ?m - mobile ?l - list) (bs_ok ?a_new - application ?m - mobile ?l - list ?a - agent) (begin_init ?a - agent) (begin_aeei ?a - agent))
+ (:functions (app_cpu ?a_new - application ?m - mobile) (app_display ?a_new - application ?m - mobile) (app_keyboard ?a_new - application ?m - mobile) (app_energy ?a_new - application ?m - mobile) (app_channels ?a_new - application ?m - mobile) (list_pdu ?l - list) (list_ml ?l - list) (time_trm ?a_new - application) (time_ct ?a_new - application) (time_am ?a_new - application) (time_aeem ?a_new - application) (time_rrc ?a_new - application) (time_rrc_negotiation ?a_new - application) (time_rab ?a_new - application) (time_aeei ?a_new - application) (time_bs ?a_new - application) (max_mobile_cpu) (max_d_available) (max_k_available) (max_e_load) (max_mobile_channels_available) (max_num_mobiles) (max_num_calls) (max_mobile_storage) (max_logical_channels) (max_cell_update) (max_handover) (max_active_set_up) (max_ggsn_bitrate) (max_no_pdp) (max_no_apn) (has_mobile_cpu) (has_d_available) (has_k_available) (has_e_load) (has_mobile_channels_available) (has_num_mobiles) (has_num_calls) (has_mobile_storage) (has_logical_channels) (has_cell_update) (has_handover) (has_active_set_up) (has_ggsn_bitrate) (has_max_no_pdp) (has_max_no_apn))
+ (:durative-action trm
+  :parameters ( ?a_new - application ?m - mobile ?l - list)
+  :duration (= ?duration (time_trm ?a_new))
+  :condition (and (at start (initiated ?a_new ?m))(at start (qos_params ?a_new ?l))(at start (<= (has_mobile_cpu) (- (max_mobile_cpu) (app_cpu ?a_new ?m))))(at start (<= (has_d_available) (- (max_d_available) (app_display ?a_new ?m))))(at start (<= (has_k_available) (- (max_k_available) (app_keyboard ?a_new ?m))))(at start (<= (has_e_load) (- (max_e_load) (app_energy ?a_new ?m))))(at start (<= (has_mobile_channels_available) (- (max_mobile_channels_available) (app_channels ?a_new ?m)))))
+  :effect (and (at end (trm_ok ?a_new ?m ?l)) (at end (decrease (has_mobile_cpu) (app_cpu ?a_new ?m))) (at end (decrease (has_d_available) (app_display ?a_new ?m))) (at end (decrease (has_k_available) (app_keyboard ?a_new ?m))) (at end (decrease (has_e_load) (app_energy ?a_new ?m))) (at end (decrease (has_mobile_channels_available) (app_channels ?a_new ?m))) (at start (increase (has_mobile_cpu) (app_cpu ?a_new ?m))) (at start (increase (has_d_available) (app_display ?a_new ?m))) (at start (increase (has_k_available) (app_keyboard ?a_new ?m))) (at start (increase (has_e_load) (app_energy ?a_new ?m))) (at start (increase (has_mobile_channels_available) (app_channels ?a_new ?m)))))
+ (:durative-action ct
+  :parameters ( ?a_new - application ?m - mobile ?l - list)
+  :duration (= ?duration (time_ct ?a_new))
+  :condition (and (at start (trm_ok ?a_new ?m ?l))(at start (qos_params ?a_new ?l))(at start (< (has_num_mobiles) (max_num_mobiles)))(at start (< (has_num_calls) (max_num_calls))))
+  :effect (and (at start (increase (has_num_mobiles) 1)) (at start (increase (has_num_calls) 1)) (at end (decrease (has_num_mobiles) 1)) (at end (decrease (has_num_calls) 1)) (at end (ct_ok ?a_new ?m ?l))))
+ (:durative-action am
+  :parameters ( ?a_new - application ?m - mobile ?l - list)
+  :duration (= ?duration 0)
+  :condition (and (at start (ct_ok ?a_new ?m ?l))(at start (location ?m))(at start (authentification ?m)))
+  :effect (and (at end (am_ok ?a_new ?m ?l))))
+ (:durative-action aeem
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_aeem ?a_new))
+  :condition (and (at start (am_ok ?a_new ?m ?l))(at start (<= (has_mobile_storage) (- (max_mobile_storage) 10)))(at start (begin_init ?a)))
+  :effect (and (at start (increase (has_mobile_storage) 10)) (at end (decrease (has_mobile_storage) 10)) (at end (aeem_ok ?a_new ?m ?l ?a))))
+ (:durative-action rrc
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_rrc ?a_new))
+  :condition (and (at start (ct_ok ?a_new ?m ?l))(at start (aeem_ok ?a_new ?m ?l ?a))(at start (<= (has_logical_channels) (- (max_logical_channels) (app_channels ?a_new ?m))))(at start (<= (has_cell_update) (- (max_cell_update) 2)))(at start (< (has_handover) (max_handover)))(at start (< (has_active_set_up) (max_active_set_up))))
+  :effect (and (at start (increase (has_logical_channels) (app_channels ?a_new ?m))) (at start (increase (has_cell_update) 2)) (at start (increase (has_handover) 1)) (at start (increase (has_active_set_up) 1)) (at end (decrease (has_logical_channels) (app_channels ?a_new ?m))) (at end (decrease (has_cell_update) 2)) (at end (decrease (has_handover) 1)) (at end (decrease (has_active_set_up) 1)) (at end (rrc_ok ?a_new ?m ?l ?a))))
+ (:durative-action rab
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_rab ?a_new))
+  :condition (and (at start (rrc_ok ?a_new ?m ?l ?a)))
+  :effect (and (at end (rab_ok ?a_new ?m ?l ?a))))
+ (:durative-action aeei
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?a - agent)
+  :duration (= ?duration (time_aeei ?a_new))
+  :condition (and (at start (rab_ok ?a_new ?m ?l ?a))(at start (<= (has_ggsn_bitrate) (- (max_ggsn_bitrate) 128)))(at start (< (has_max_no_pdp) (max_no_pdp)))(at start (< (has_max_no_apn) (max_no_apn)))(at start (begin_aeei ?a)))
+  :effect (and (at end (aeei_ok ?a_new ?m ?l ?a)) (at end (decrease (has_ggsn_bitrate) 128)) (at end (decrease (has_max_no_pdp) 1)) (at end (decrease (has_max_no_apn) 1)) (at start (increase (has_ggsn_bitrate) 128)) (at start (increase (has_max_no_pdp) 1)) (at start (increase (has_max_no_apn) 1))))
+ (:durative-action bs
+  :parameters ( ?a_new - application ?m - mobile ?l - list ?ms1 - message ?ms2 - message ?a - agent)
+  :duration (= ?duration (time_bs ?a_new))
+  :condition (and (at start (initiated ?a_new ?m))(at start (aeei_ok ?a_new ?m ?l ?a))(at start (qos_params ?a_new ?l))(at start (message_trm ?m ?ms1))(at start (message_aeei ?a_new ?ms2)))
+  :effect (and (at end (iu_bearer ?a_new ?m ?l)) (at end (bs_ok ?a_new ?m ?l ?a))))
+)
diff --git a/planning/problems/upf/ipc2004-umts-temporal-time-windows-strips/max_depth.txt b/planning/problems/upf/ipc2004-umts-temporal-time-windows-strips/max_depth.txt
new file mode 100644
index 00000000..56a6051c
--- /dev/null
+++ b/planning/problems/upf/ipc2004-umts-temporal-time-windows-strips/max_depth.txt
@@ -0,0 +1 @@
+1
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2004-umts-temporal-time-windows-strips/problem.pddl b/planning/problems/upf/ipc2004-umts-temporal-time-windows-strips/problem.pddl
new file mode 100644
index 00000000..90d1c587
--- /dev/null
+++ b/planning/problems/upf/ipc2004-umts-temporal-time-windows-strips/problem.pddl
@@ -0,0 +1,13 @@
+(define (problem bs-problem)
+ (:domain bs-domain)
+ (:objects
+   a1 a2 a3 a4 a5 a6 a7 a8 a9 a10 - application
+   ae - agent
+   m1 m2 m3 m4 m5 m6 m7 m8 m9 m10 - mobile
+   l1 l2 l3 l4 l5 l6 l7 l8 l9 l10 - list
+   ms1 ms2 - message
+ )
+ (:init (= (time_trm a1) 69) (= (time_ct a1) 47) (= (time_am a1) 80) (= (time_aeem a1) 61) (= (time_rrc a1) 220) (= (time_rab a1) 61) (= (time_aeei a1) 47) (= (time_bs a1) 31) (= (time_trm a2) 70) (= (time_ct a2) 50) (= (time_am a2) 35) (= (time_aeem a2) 63) (= (time_rrc a2) 185) (= (time_rab a2) 74) (= (time_aeei a2) 79) (= (time_bs a2) 13) (= (time_trm a3) 58) (= (time_ct a3) 56) (= (time_am a3) 49) (= (time_aeem a3) 69) (= (time_rrc a3) 178) (= (time_rab a3) 63) (= (time_aeei a3) 89) (= (time_bs a3) 19) (= (time_trm a4) 59) (= (time_ct a4) 48) (= (time_am a4) 49) (= (time_aeem a4) 65) (= (time_rrc a4) 185) (= (time_rab a4) 62) (= (time_aeei a4) 88) (= (time_bs a4) 30) (= (time_trm a5) 62) (= (time_ct a5) 48) (= (time_am a5) 43) (= (time_aeem a5) 62) (= (time_rrc a5) 187) (= (time_rab a5) 64) (= (time_aeei a5) 75) (= (time_bs a5) 21) (= (time_trm a6) 72) (= (time_ct a6) 44) (= (time_am a6) 72) (= (time_aeem a6) 65) (= (time_rrc a6) 219) (= (time_rab a6) 66) (= (time_aeei a6) 34) (= (time_bs a6) 30) (= (time_trm a7) 55) (= (time_ct a7) 53) (= (time_am a7) 45) (= (time_aeem a7) 74) (= (time_rrc a7) 179) (= (time_rab a7) 63) (= (time_aeei a7) 78) (= (time_bs a7) 26) (= (time_trm a8) 69) (= (time_ct a8) 49) (= (time_am a8) 38) (= (time_aeem a8) 63) (= (time_rrc a8) 189) (= (time_rab a8) 69) (= (time_aeei a8) 79) (= (time_bs a8) 18) (= (time_trm a9) 69) (= (time_ct a9) 45) (= (time_am a9) 45) (= (time_aeem a9) 62) (= (time_rrc a9) 188) (= (time_rab a9) 80) (= (time_aeei a9) 82) (= (time_bs a9) 18) (= (time_trm a10) 63) (= (time_ct a10) 42) (= (time_am a10) 47) (= (time_aeem a10) 64) (= (time_rrc a10) 175) (= (time_rab a10) 71) (= (time_aeei a10) 82) (= (time_bs a10) 14) (location m1) (authentification m1) (location m2) (authentification m2) (location m3) (authentification m3) (location m4) (authentification m4) (location m5) (authentification m5) (location m6) (authentification m6) (location m7) (authentification m7) (location m8) (authentification m8) (location m9) (authentification m9) (location m10) (authentification m10) (initiated a1 m1) (qos_params a1 l1) (= (list_pdu l1) 130) (= (app_cpu a1 m1) 75) (= (app_display a1 m1) 49) (= (app_keyboard a1 m1) 1) (= (app_energy a1 m1) 14) (= (app_channels a1 m1) 2) (message_trm m1 ms1) (message_aeei a1 ms2) (initiated a2 m1) (qos_params a2 l2) (= (list_pdu l2) 59) (= (app_cpu a2 m1) 13) (= (app_display a2 m1) 15) (= (app_keyboard a2 m1) 5) (= (app_energy a2 m1) 19) (= (app_channels a2 m1) 1) (message_aeei a2 ms2) (initiated a3 m1) (qos_params a3 l3) (= (list_pdu l3) 254) (= (app_cpu a3 m1) 16) (= (app_display a3 m1) 19) (= (app_keyboard a3 m1) 1) (= (app_energy a3 m1) 8) (= (app_channels a3 m1) 1) (message_aeei a3 ms2) (initiated a4 m1) (qos_params a4 l4) (= (list_pdu l4) 265) (= (app_cpu a4 m1) 9) (= (app_display a4 m1) 4) (= (app_keyboard a4 m1) 1) (= (app_energy a4 m1) 19) (= (app_channels a4 m1) 1) (message_aeei a4 ms2) (initiated a5 m1) (qos_params a5 l5) (= (list_pdu l5) 261) (= (app_cpu a5 m1) 2) (= (app_display a5 m1) 13) (= (app_keyboard a5 m1) 11) (= (app_energy a5 m1) 7) (= (app_channels a5 m1) 1) (message_aeei a5 ms2) (initiated a6 m1) (qos_params a6 l6) (= (list_pdu l6) 259) (= (app_cpu a6 m1) 2) (= (app_display a6 m1) 12) (= (app_keyboard a6 m1) 1) (= (app_energy a6 m1) 5) (= (app_channels a6 m1) 2) (message_aeei a6 ms2) (initiated a7 m1) (qos_params a7 l7) (= (list_pdu l7) 258) (= (app_cpu a7 m1) 4) (= (app_display a7 m1) 7) (= (app_keyboard a7 m1) 1) (= (app_energy a7 m1) 14) (= (app_channels a7 m1) 1) (message_aeei a7 ms2) (initiated a8 m1) (qos_params a8 l8) (= (list_pdu l8) 250) (= (app_cpu a8 m1) 10) (= (app_display a8 m1) 1) (= (app_keyboard a8 m1) 4) (= (app_energy a8 m1) 10) (= (app_channels a8 m1) 5) (message_aeei a8 ms2) (initiated a9 m1) (qos_params a9 l9) (= (list_pdu l9) 256) (= (app_cpu a9 m1) 10) (= (app_display a9 m1) 5) (= (app_keyboard a9 m1) 1) (= (app_energy a9 m1) 10) (= (app_channels a9 m1) 1) (message_aeei a9 ms2) (initiated a10 m1) (qos_params a10 l10) (= (list_pdu l10) 256) (= (app_cpu a10 m1) 10) (= (app_display a10 m1) 5) (= (app_keyboard a10 m1) 1) (= (app_energy a10 m1) 5) (= (app_channels a10 m1) 1) (message_aeei a10 ms2) (= (max_mobile_cpu) 300) (= (max_d_available) 140) (= (max_k_available) 12) (= (max_e_load) 150) (= (max_mobile_channels_available) 12) (= (max_num_mobiles) 256) (= (max_num_calls) 10) (= (max_mobile_storage) 2000) (= (max_logical_channels) 100) (= (max_cell_update) 10) (= (max_handover) 10) (= (max_active_set_up) 10) (= (max_ggsn_bitrate) 10000) (= (max_no_pdp) 20) (= (max_no_apn) 20) (= (has_mobile_cpu) 0) (= (has_d_available) 0) (= (has_k_available) 0) (= (has_e_load) 0) (= (has_mobile_channels_available) 0) (= (has_num_mobiles) 0) (= (has_num_calls) 0) (= (has_mobile_storage) 0) (= (has_logical_channels) 0) (= (has_cell_update) 0) (= (has_handover) 0) (= (has_active_set_up) 0) (= (has_ggsn_bitrate) 0) (= (has_max_no_pdp) 0) (= (has_max_no_apn) 0) (at 70.0 (begin_init ae)) (at 761.0 (not (begin_init ae))) (at 1430.0 (begin_aeei ae)) (at 2151.0 (not (begin_aeei ae))))
+ (:goal (and (bs_ok a1 m1 l1 ae)))
+ (:metric minimize (total-time))
+)
diff --git a/planning/problems/upf/ipc2006-pathways-propositional-strips/domain.pddl b/planning/problems/upf/ipc2006-pathways-propositional-strips/domain.pddl
new file mode 100644
index 00000000..a83560b5
--- /dev/null
+++ b/planning/problems/upf/ipc2006-pathways-propositional-strips/domain.pddl
@@ -0,0 +1,316 @@
+(define (domain grounded_pathways_01-domain)
+ (:requirements :strips)
+ (:predicates (foo) (chosen_sp1) (num_subs_l1) (chosen_raf1) (chosen_prbp2) (chosen_prb_e2f4p1_dp12) (chosen_pcaf) (chosen_p300) (chosen_p16) (chosen_p130_e2f5p1_dp12) (chosen_e2f13) (chosen_dmp1) (chosen_chk1) (chosen_cdk7) (chosen_cdk46p3_cycdp1) (chosen_cdk46p3_cycd) (chosen_cdc25c) (chosen_ap2) (available_sp1) (available_raf1) (available_prbp2) (available_prb_e2f4p1_dp12) (available_pcaf) (available_p300) (available_p16) (available_p130_e2f5p1_dp12) (available_e2f13) (available_dmp1) (available_chk1) (available_cdk7) (available_cdk46p3_cycdp1) (available_cdk46p3_cycd) (available_cdc25c) (available_ap2) (available_sp1_e2f13) (available_raf1_prb_e2f4p1_dp12) (available_raf1_p130_e2f5p1_dp12) (available_prbp2_ap2) (available_pcaf_p300) (available_p16_cdk7) (available_prbp1p2) (available_dmp1p1) (available_cdc25cp2) (goal1_) (num_subs_l2) (available_prbp1p2_ap2) (num_subs_l3) (not_chosen_ap2) (not_chosen_cdc25c) (not_chosen_cdk46p3_cycd) (not_chosen_cdk46p3_cycdp1) (not_chosen_cdk7) (not_chosen_chk1) (not_chosen_dmp1) (not_chosen_e2f13) (not_chosen_p130_e2f5p1_dp12) (not_chosen_p16) (not_chosen_p300) (not_chosen_pcaf) (not_chosen_prb_e2f4p1_dp12) (not_chosen_prbp2) (not_chosen_raf1) (not_chosen_sp1) (num_subs_l0))
+ (:action choose_ap2_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_ap2))
+  :effect (and (chosen_ap2) (num_subs_l3) (not (not_chosen_ap2)) (not (num_subs_l2))))
+ (:action choose_cdc25c_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_cdc25c))
+  :effect (and (chosen_cdc25c) (num_subs_l3) (not (not_chosen_cdc25c)) (not (num_subs_l2))))
+ (:action choose_cdk46p3_cycd_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_cdk46p3_cycd))
+  :effect (and (chosen_cdk46p3_cycd) (num_subs_l3) (not (not_chosen_cdk46p3_cycd)) (not (num_subs_l2))))
+ (:action choose_cdk46p3_cycdp1_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_cdk46p3_cycdp1))
+  :effect (and (chosen_cdk46p3_cycdp1) (num_subs_l3) (not (not_chosen_cdk46p3_cycdp1)) (not (num_subs_l2))))
+ (:action choose_cdk7_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_cdk7))
+  :effect (and (chosen_cdk7) (num_subs_l3) (not (not_chosen_cdk7)) (not (num_subs_l2))))
+ (:action choose_chk1_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_chk1))
+  :effect (and (chosen_chk1) (num_subs_l3) (not (not_chosen_chk1)) (not (num_subs_l2))))
+ (:action choose_dmp1_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_dmp1))
+  :effect (and (chosen_dmp1) (num_subs_l3) (not (not_chosen_dmp1)) (not (num_subs_l2))))
+ (:action choose_e2f13_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_e2f13))
+  :effect (and (chosen_e2f13) (num_subs_l3) (not (not_chosen_e2f13)) (not (num_subs_l2))))
+ (:action choose_p130_e2f5p1_dp12_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_p130_e2f5p1_dp12))
+  :effect (and (chosen_p130_e2f5p1_dp12) (num_subs_l3) (not (not_chosen_p130_e2f5p1_dp12)) (not (num_subs_l2))))
+ (:action choose_p16_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_p16))
+  :effect (and (chosen_p16) (num_subs_l3) (not (not_chosen_p16)) (not (num_subs_l2))))
+ (:action choose_p300_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_p300))
+  :effect (and (chosen_p300) (num_subs_l3) (not (not_chosen_p300)) (not (num_subs_l2))))
+ (:action choose_pcaf_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_pcaf))
+  :effect (and (chosen_pcaf) (num_subs_l3) (not (not_chosen_pcaf)) (not (num_subs_l2))))
+ (:action choose_prb_e2f4p1_dp12_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_prb_e2f4p1_dp12))
+  :effect (and (chosen_prb_e2f4p1_dp12) (num_subs_l3) (not (not_chosen_prb_e2f4p1_dp12)) (not (num_subs_l2))))
+ (:action choose_prbp2_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_prbp2))
+  :effect (and (chosen_prbp2) (num_subs_l3) (not (not_chosen_prbp2)) (not (num_subs_l2))))
+ (:action choose_raf1_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_raf1))
+  :effect (and (chosen_raf1) (num_subs_l3) (not (not_chosen_raf1)) (not (num_subs_l2))))
+ (:action choose_sp1_l3_l2
+  :parameters ()
+  :precondition (and (num_subs_l2) (not_chosen_sp1))
+  :effect (and (chosen_sp1) (num_subs_l3) (not (not_chosen_sp1)) (not (num_subs_l2))))
+ (:action dummy_action_1_1
+  :parameters ()
+  :precondition (and (available_prbp1p2_ap2))
+  :effect (and (goal1_)))
+ (:action associate_prbp1p2_ap2_prbp1p2_ap2
+  :parameters ()
+  :precondition (and (available_ap2) (available_prbp1p2))
+  :effect (and (available_prbp1p2_ap2) (not (available_prbp1p2)) (not (available_ap2))))
+ (:action choose_ap2_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_ap2))
+  :effect (and (chosen_ap2) (num_subs_l2) (not (not_chosen_ap2)) (not (num_subs_l1))))
+ (:action choose_cdc25c_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_cdc25c))
+  :effect (and (chosen_cdc25c) (num_subs_l2) (not (not_chosen_cdc25c)) (not (num_subs_l1))))
+ (:action choose_cdk46p3_cycd_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_cdk46p3_cycd))
+  :effect (and (chosen_cdk46p3_cycd) (num_subs_l2) (not (not_chosen_cdk46p3_cycd)) (not (num_subs_l1))))
+ (:action choose_cdk46p3_cycdp1_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_cdk46p3_cycdp1))
+  :effect (and (chosen_cdk46p3_cycdp1) (num_subs_l2) (not (not_chosen_cdk46p3_cycdp1)) (not (num_subs_l1))))
+ (:action choose_cdk7_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_cdk7))
+  :effect (and (chosen_cdk7) (num_subs_l2) (not (not_chosen_cdk7)) (not (num_subs_l1))))
+ (:action choose_chk1_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_chk1))
+  :effect (and (chosen_chk1) (num_subs_l2) (not (not_chosen_chk1)) (not (num_subs_l1))))
+ (:action choose_dmp1_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_dmp1))
+  :effect (and (chosen_dmp1) (num_subs_l2) (not (not_chosen_dmp1)) (not (num_subs_l1))))
+ (:action choose_e2f13_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_e2f13))
+  :effect (and (chosen_e2f13) (num_subs_l2) (not (not_chosen_e2f13)) (not (num_subs_l1))))
+ (:action choose_p130_e2f5p1_dp12_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_p130_e2f5p1_dp12))
+  :effect (and (chosen_p130_e2f5p1_dp12) (num_subs_l2) (not (not_chosen_p130_e2f5p1_dp12)) (not (num_subs_l1))))
+ (:action choose_p16_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_p16))
+  :effect (and (chosen_p16) (num_subs_l2) (not (not_chosen_p16)) (not (num_subs_l1))))
+ (:action choose_p300_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_p300))
+  :effect (and (chosen_p300) (num_subs_l2) (not (not_chosen_p300)) (not (num_subs_l1))))
+ (:action choose_pcaf_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_pcaf))
+  :effect (and (chosen_pcaf) (num_subs_l2) (not (not_chosen_pcaf)) (not (num_subs_l1))))
+ (:action choose_prb_e2f4p1_dp12_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_prb_e2f4p1_dp12))
+  :effect (and (chosen_prb_e2f4p1_dp12) (num_subs_l2) (not (not_chosen_prb_e2f4p1_dp12)) (not (num_subs_l1))))
+ (:action choose_prbp2_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_prbp2))
+  :effect (and (chosen_prbp2) (num_subs_l2) (not (not_chosen_prbp2)) (not (num_subs_l1))))
+ (:action choose_raf1_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_raf1))
+  :effect (and (chosen_raf1) (num_subs_l2) (not (not_chosen_raf1)) (not (num_subs_l1))))
+ (:action choose_sp1_l2_l1
+  :parameters ()
+  :precondition (and (num_subs_l1) (not_chosen_sp1))
+  :effect (and (chosen_sp1) (num_subs_l2) (not (not_chosen_sp1)) (not (num_subs_l1))))
+ (:action dummy_action_1_2
+  :parameters ()
+  :precondition (and (available_pcaf_p300))
+  :effect (and (goal1_)))
+ (:action associate_with_catalyze_cdc25c_chk1_cdc25cp2
+  :parameters ()
+  :precondition (and (available_chk1) (available_cdc25c))
+  :effect (and (available_cdc25cp2) (not (available_cdc25c))))
+ (:action associate_with_catalyze_dmp1_cdk46p3_cycd_dmp1p1
+  :parameters ()
+  :precondition (and (available_cdk46p3_cycd) (available_dmp1))
+  :effect (and (available_dmp1p1) (not (available_dmp1))))
+ (:action associate_with_catalyze_dmp1_cdk46p3_cycdp1_dmp1p1
+  :parameters ()
+  :precondition (and (available_cdk46p3_cycdp1) (available_dmp1))
+  :effect (and (available_dmp1p1) (not (available_dmp1))))
+ (:action associate_with_catalyze_prbp2_cdk46p3_cycdp1_prbp1p2
+  :parameters ()
+  :precondition (and (available_cdk46p3_cycdp1) (available_prbp2))
+  :effect (and (available_prbp1p2) (not (available_prbp2))))
+ (:action associate_with_catalyze_prbp2_cdk46p3_cycd_prbp1p2
+  :parameters ()
+  :precondition (and (available_cdk46p3_cycd) (available_prbp2))
+  :effect (and (available_prbp1p2) (not (available_prbp2))))
+ (:action associate_p16_cdk7_p16_cdk7
+  :parameters ()
+  :precondition (and (available_cdk7) (available_p16))
+  :effect (and (available_p16_cdk7) (not (available_p16)) (not (available_cdk7))))
+ (:action associate_pcaf_p300_pcaf_p300
+  :parameters ()
+  :precondition (and (available_p300) (available_pcaf))
+  :effect (and (available_pcaf_p300) (not (available_pcaf)) (not (available_p300))))
+ (:action associate_prbp2_ap2_prbp2_ap2
+  :parameters ()
+  :precondition (and (available_ap2) (available_prbp2))
+  :effect (and (available_prbp2_ap2) (not (available_prbp2)) (not (available_ap2))))
+ (:action associate_raf1_p130_e2f5p1_dp12_raf1_p130_e2f5p1_dp12
+  :parameters ()
+  :precondition (and (available_p130_e2f5p1_dp12) (available_raf1))
+  :effect (and (available_raf1_p130_e2f5p1_dp12) (not (available_raf1)) (not (available_p130_e2f5p1_dp12))))
+ (:action associate_raf1_prb_e2f4p1_dp12_raf1_prb_e2f4p1_dp12
+  :parameters ()
+  :precondition (and (available_prb_e2f4p1_dp12) (available_raf1))
+  :effect (and (available_raf1_prb_e2f4p1_dp12) (not (available_raf1)) (not (available_prb_e2f4p1_dp12))))
+ (:action associate_sp1_e2f13_sp1_e2f13
+  :parameters ()
+  :precondition (and (available_e2f13) (available_sp1))
+  :effect (and (available_sp1_e2f13) (not (available_sp1)) (not (available_e2f13))))
+ (:action initialize_ap2
+  :parameters ()
+  :precondition (and (chosen_ap2))
+  :effect (and (available_ap2)))
+ (:action initialize_cdc25c
+  :parameters ()
+  :precondition (and (chosen_cdc25c))
+  :effect (and (available_cdc25c)))
+ (:action initialize_cdk46p3_cycd
+  :parameters ()
+  :precondition (and (chosen_cdk46p3_cycd))
+  :effect (and (available_cdk46p3_cycd)))
+ (:action initialize_cdk46p3_cycdp1
+  :parameters ()
+  :precondition (and (chosen_cdk46p3_cycdp1))
+  :effect (and (available_cdk46p3_cycdp1)))
+ (:action initialize_cdk7
+  :parameters ()
+  :precondition (and (chosen_cdk7))
+  :effect (and (available_cdk7)))
+ (:action initialize_chk1
+  :parameters ()
+  :precondition (and (chosen_chk1))
+  :effect (and (available_chk1)))
+ (:action initialize_dmp1
+  :parameters ()
+  :precondition (and (chosen_dmp1))
+  :effect (and (available_dmp1)))
+ (:action initialize_e2f13
+  :parameters ()
+  :precondition (and (chosen_e2f13))
+  :effect (and (available_e2f13)))
+ (:action initialize_p130_e2f5p1_dp12
+  :parameters ()
+  :precondition (and (chosen_p130_e2f5p1_dp12))
+  :effect (and (available_p130_e2f5p1_dp12)))
+ (:action initialize_p16
+  :parameters ()
+  :precondition (and (chosen_p16))
+  :effect (and (available_p16)))
+ (:action initialize_p300
+  :parameters ()
+  :precondition (and (chosen_p300))
+  :effect (and (available_p300)))
+ (:action initialize_pcaf
+  :parameters ()
+  :precondition (and (chosen_pcaf))
+  :effect (and (available_pcaf)))
+ (:action initialize_prb_e2f4p1_dp12
+  :parameters ()
+  :precondition (and (chosen_prb_e2f4p1_dp12))
+  :effect (and (available_prb_e2f4p1_dp12)))
+ (:action initialize_prbp2
+  :parameters ()
+  :precondition (and (chosen_prbp2))
+  :effect (and (available_prbp2)))
+ (:action initialize_raf1
+  :parameters ()
+  :precondition (and (chosen_raf1))
+  :effect (and (available_raf1)))
+ (:action initialize_sp1
+  :parameters ()
+  :precondition (and (chosen_sp1))
+  :effect (and (available_sp1)))
+ (:action choose_ap2_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_ap2))
+  :effect (and (chosen_ap2) (num_subs_l1) (not (not_chosen_ap2)) (not (num_subs_l0))))
+ (:action choose_cdc25c_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_cdc25c))
+  :effect (and (chosen_cdc25c) (num_subs_l1) (not (not_chosen_cdc25c)) (not (num_subs_l0))))
+ (:action choose_cdk46p3_cycd_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_cdk46p3_cycd))
+  :effect (and (chosen_cdk46p3_cycd) (num_subs_l1) (not (not_chosen_cdk46p3_cycd)) (not (num_subs_l0))))
+ (:action choose_cdk46p3_cycdp1_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_cdk46p3_cycdp1))
+  :effect (and (chosen_cdk46p3_cycdp1) (num_subs_l1) (not (not_chosen_cdk46p3_cycdp1)) (not (num_subs_l0))))
+ (:action choose_cdk7_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_cdk7))
+  :effect (and (chosen_cdk7) (num_subs_l1) (not (not_chosen_cdk7)) (not (num_subs_l0))))
+ (:action choose_chk1_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_chk1))
+  :effect (and (chosen_chk1) (num_subs_l1) (not (not_chosen_chk1)) (not (num_subs_l0))))
+ (:action choose_dmp1_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_dmp1))
+  :effect (and (chosen_dmp1) (num_subs_l1) (not (not_chosen_dmp1)) (not (num_subs_l0))))
+ (:action choose_e2f13_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_e2f13))
+  :effect (and (chosen_e2f13) (num_subs_l1) (not (not_chosen_e2f13)) (not (num_subs_l0))))
+ (:action choose_p130_e2f5p1_dp12_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_p130_e2f5p1_dp12))
+  :effect (and (chosen_p130_e2f5p1_dp12) (num_subs_l1) (not (not_chosen_p130_e2f5p1_dp12)) (not (num_subs_l0))))
+ (:action choose_p16_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_p16))
+  :effect (and (chosen_p16) (num_subs_l1) (not (not_chosen_p16)) (not (num_subs_l0))))
+ (:action choose_p300_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_p300))
+  :effect (and (chosen_p300) (num_subs_l1) (not (not_chosen_p300)) (not (num_subs_l0))))
+ (:action choose_pcaf_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_pcaf))
+  :effect (and (chosen_pcaf) (num_subs_l1) (not (not_chosen_pcaf)) (not (num_subs_l0))))
+ (:action choose_prb_e2f4p1_dp12_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_prb_e2f4p1_dp12))
+  :effect (and (chosen_prb_e2f4p1_dp12) (num_subs_l1) (not (not_chosen_prb_e2f4p1_dp12)) (not (num_subs_l0))))
+ (:action choose_prbp2_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_prbp2))
+  :effect (and (chosen_prbp2) (num_subs_l1) (not (not_chosen_prbp2)) (not (num_subs_l0))))
+ (:action choose_raf1_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_raf1))
+  :effect (and (chosen_raf1) (num_subs_l1) (not (not_chosen_raf1)) (not (num_subs_l0))))
+ (:action choose_sp1_l1_l0
+  :parameters ()
+  :precondition (and (num_subs_l0) (not_chosen_sp1))
+  :effect (and (chosen_sp1) (num_subs_l1) (not (not_chosen_sp1)) (not (num_subs_l0))))
+)
diff --git a/planning/problems/upf/ipc2006-pathways-propositional-strips/max_depth.txt b/planning/problems/upf/ipc2006-pathways-propositional-strips/max_depth.txt
new file mode 100644
index 00000000..56a6051c
--- /dev/null
+++ b/planning/problems/upf/ipc2006-pathways-propositional-strips/max_depth.txt
@@ -0,0 +1 @@
+1
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2006-pathways-propositional-strips/problem.pddl b/planning/problems/upf/ipc2006-pathways-propositional-strips/problem.pddl
new file mode 100644
index 00000000..a887ba67
--- /dev/null
+++ b/planning/problems/upf/ipc2006-pathways-propositional-strips/problem.pddl
@@ -0,0 +1,5 @@
+(define (problem grounded_pathways_01-problem)
+ (:domain grounded_pathways_01-domain)
+ (:init (foo) (not_chosen_sp1) (not_chosen_raf1) (not_chosen_prbp2) (not_chosen_prb_e2f4p1_dp12) (not_chosen_pcaf) (not_chosen_p300) (not_chosen_p16) (not_chosen_p130_e2f5p1_dp12) (not_chosen_e2f13) (not_chosen_dmp1) (not_chosen_chk1) (not_chosen_cdk7) (not_chosen_cdk46p3_cycdp1) (not_chosen_cdk46p3_cycd) (not_chosen_cdc25c) (not_chosen_ap2) (num_subs_l0))
+ (:goal (and (goal1_)))
+)
diff --git a/planning/problems/upf/ipc2006-pipesworld-propositional-strips/domain.pddl b/planning/problems/upf/ipc2006-pipesworld-propositional-strips/domain.pddl
new file mode 100644
index 00000000..0d268dba
--- /dev/null
+++ b/planning/problems/upf/ipc2006-pipesworld-propositional-strips/domain.pddl
@@ -0,0 +1,516 @@
+(define (domain grounded_strips_p01_net1_b6_g2_rt0_instance-domain)
+ (:requirements :strips)
+ (:predicates (first_b0_s13) (last_b0_s13) (not_occupied_ta1_1_oc1b) (on_b5_a3) (occupied_ta3_1_oca1) (first_b2_s13) (last_b2_s13) (not_occupied_ta1_1_gasoleo) (on_b2_a3) (occupied_ta3_1_gasoleo) (first_b3_s13) (last_b3_s13) (not_occupied_ta1_1_rat_a) (first_b0_s12) (last_b0_s12) (on_b4_a2) (occupied_ta2_1_lco) (first_b3_s12) (last_b3_s12) (first_b2_s12) (last_b2_s12) (last_b1_s13) (first_b1_s13) (not_occupied_ta3_1_lco) (on_b5_a1) (occupied_ta1_1_oca1) (on_b1_a1) (occupied_ta1_1_lco) (on_b4_a1) (on_b0_a3) (occupied_ta3_1_oc1b) (first_b4_s13) (last_b4_s13) (on_b3_a3) (occupied_ta3_1_rat_a) (on_b4_a3) (on_b0_a2) (occupied_ta2_1_oc1b) (first_b5_s12) (last_b5_s12) (first_b1_s12) (last_b1_s12) (on_b5_a2) (occupied_ta2_1_oca1) (on_b3_a2) (occupied_ta2_1_rat_a) (on_b2_a2) (occupied_ta2_1_gasoleo) (on_b1_a2) (not_occupied_ta1_1_lco) (last_b4_s12) (first_b4_s12) (occupied_ta3_1_lco) (on_b1_a3) (not_occupied_ta1_1_oca1) (last_b5_s13) (first_b5_s13) (not_occupied_ta2_1_lco) (on_b2_a1) (occupied_ta1_1_gasoleo) (on_b3_a1) (occupied_ta1_1_rat_a) (on_b0_a1) (occupied_ta1_1_oc1b) (not_occupied_ta2_1_gasoleo) (not_occupied_ta2_1_rat_a) (not_occupied_ta2_1_oca1) (not_occupied_ta2_1_oc1b) (not_occupied_ta3_1_gasoleo) (not_occupied_ta3_1_rat_a) (not_occupied_ta3_1_oca1) (not_occupied_ta3_1_oc1b))
+ (:action pop_unitarypipe_s12_b1_a1_a2_b1_lco_lco_ta1_1_lco_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_lco) (on_b1_a2) (first_b1_s12))
+  :effect (and (last_b1_s12) (first_b1_s12) (not_occupied_ta2_1_lco) (on_b1_a1) (occupied_ta1_1_lco) (not (on_b1_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b4_a1_a2_b1_lco_lco_ta1_1_lco_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_lco) (on_b4_a2) (first_b1_s12))
+  :effect (and (last_b4_s12) (first_b4_s12) (not_occupied_ta2_1_lco) (on_b1_a1) (occupied_ta1_1_lco) (not (last_b1_s12)) (not (first_b1_s12)) (not (on_b4_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b1_a1_a2_b4_lco_lco_ta1_1_lco_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_lco) (on_b1_a2) (first_b4_s12))
+  :effect (and (last_b1_s12) (first_b1_s12) (not_occupied_ta2_1_lco) (on_b4_a1) (occupied_ta1_1_lco) (not (last_b4_s12)) (not (first_b4_s12)) (not (on_b1_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b2_a1_a2_b1_gasoleo_lco_ta1_1_lco_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_gasoleo) (on_b2_a2) (first_b1_s12))
+  :effect (and (last_b2_s12) (first_b2_s12) (not_occupied_ta2_1_gasoleo) (on_b1_a1) (occupied_ta1_1_lco) (not (last_b1_s12)) (not (first_b1_s12)) (not (on_b2_a2)) (not (occupied_ta2_1_gasoleo)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b2_a1_a2_b4_gasoleo_lco_ta1_1_lco_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_gasoleo) (on_b2_a2) (first_b4_s12))
+  :effect (and (last_b2_s12) (first_b2_s12) (not_occupied_ta2_1_gasoleo) (on_b4_a1) (occupied_ta1_1_lco) (not (last_b4_s12)) (not (first_b4_s12)) (not (on_b2_a2)) (not (occupied_ta2_1_gasoleo)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b3_a1_a2_b1_rat_a_lco_ta1_1_lco_ta2_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_rat_a) (on_b3_a2) (first_b1_s12))
+  :effect (and (last_b3_s12) (first_b3_s12) (not_occupied_ta2_1_rat_a) (on_b1_a1) (occupied_ta1_1_lco) (not (last_b1_s12)) (not (first_b1_s12)) (not (on_b3_a2)) (not (occupied_ta2_1_rat_a)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b3_a1_a2_b4_rat_a_lco_ta1_1_lco_ta2_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_rat_a) (on_b3_a2) (first_b4_s12))
+  :effect (and (last_b3_s12) (first_b3_s12) (not_occupied_ta2_1_rat_a) (on_b4_a1) (occupied_ta1_1_lco) (not (last_b4_s12)) (not (first_b4_s12)) (not (on_b3_a2)) (not (occupied_ta2_1_rat_a)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b5_a1_a2_b1_oca1_lco_ta1_1_lco_ta2_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_oca1) (on_b5_a2) (first_b1_s12))
+  :effect (and (last_b5_s12) (first_b5_s12) (not_occupied_ta2_1_oca1) (on_b1_a1) (occupied_ta1_1_lco) (not (last_b1_s12)) (not (first_b1_s12)) (not (on_b5_a2)) (not (occupied_ta2_1_oca1)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b5_a1_a2_b4_oca1_lco_ta1_1_lco_ta2_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_oca1) (on_b5_a2) (first_b4_s12))
+  :effect (and (last_b5_s12) (first_b5_s12) (not_occupied_ta2_1_oca1) (on_b4_a1) (occupied_ta1_1_lco) (not (last_b4_s12)) (not (first_b4_s12)) (not (on_b5_a2)) (not (occupied_ta2_1_oca1)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b0_a1_a2_b1_oc1b_lco_ta1_1_lco_ta2_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_oc1b) (on_b0_a2) (first_b1_s12))
+  :effect (and (last_b0_s12) (first_b0_s12) (not_occupied_ta2_1_oc1b) (on_b1_a1) (occupied_ta1_1_lco) (not (last_b1_s12)) (not (first_b1_s12)) (not (on_b0_a2)) (not (occupied_ta2_1_oc1b)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b0_a1_a2_b4_oc1b_lco_ta1_1_lco_ta2_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_oc1b) (on_b0_a2) (first_b4_s12))
+  :effect (and (last_b0_s12) (first_b0_s12) (not_occupied_ta2_1_oc1b) (on_b4_a1) (occupied_ta1_1_lco) (not (last_b4_s12)) (not (first_b4_s12)) (not (on_b0_a2)) (not (occupied_ta2_1_oc1b)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b4_a1_a3_b1_lco_lco_ta1_1_lco_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_lco) (on_b4_a3) (first_b1_s13))
+  :effect (and (last_b4_s13) (first_b4_s13) (not_occupied_ta3_1_lco) (on_b1_a1) (occupied_ta1_1_lco) (not (last_b1_s13)) (not (first_b1_s13)) (not (on_b4_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b1_a1_a3_b4_lco_lco_ta1_1_lco_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_lco) (on_b1_a3) (first_b4_s13))
+  :effect (and (last_b1_s13) (first_b1_s13) (not_occupied_ta3_1_lco) (on_b4_a1) (occupied_ta1_1_lco) (not (last_b4_s13)) (not (first_b4_s13)) (not (on_b1_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b4_a1_a3_b4_lco_lco_ta1_1_lco_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_lco) (on_b4_a3) (first_b4_s13))
+  :effect (and (last_b4_s13) (first_b4_s13) (not_occupied_ta3_1_lco) (on_b4_a1) (occupied_ta1_1_lco) (not (on_b4_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b2_a1_a3_b4_gasoleo_lco_ta1_1_lco_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_gasoleo) (on_b2_a3) (first_b4_s13))
+  :effect (and (last_b2_s13) (first_b2_s13) (not_occupied_ta3_1_gasoleo) (on_b4_a1) (occupied_ta1_1_lco) (not (last_b4_s13)) (not (first_b4_s13)) (not (on_b2_a3)) (not (occupied_ta3_1_gasoleo)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b3_a1_a3_b1_rat_a_lco_ta1_1_lco_ta3_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_rat_a) (on_b3_a3) (first_b1_s13))
+  :effect (and (last_b3_s13) (first_b3_s13) (not_occupied_ta3_1_rat_a) (on_b1_a1) (occupied_ta1_1_lco) (not (last_b1_s13)) (not (first_b1_s13)) (not (on_b3_a3)) (not (occupied_ta3_1_rat_a)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b3_a1_a3_b4_rat_a_lco_ta1_1_lco_ta3_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_rat_a) (on_b3_a3) (first_b4_s13))
+  :effect (and (last_b3_s13) (first_b3_s13) (not_occupied_ta3_1_rat_a) (on_b4_a1) (occupied_ta1_1_lco) (not (last_b4_s13)) (not (first_b4_s13)) (not (on_b3_a3)) (not (occupied_ta3_1_rat_a)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b5_a1_a3_b4_oca1_lco_ta1_1_lco_ta3_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_oca1) (on_b5_a3) (first_b4_s13))
+  :effect (and (last_b5_s13) (first_b5_s13) (not_occupied_ta3_1_oca1) (on_b4_a1) (occupied_ta1_1_lco) (not (last_b4_s13)) (not (first_b4_s13)) (not (on_b5_a3)) (not (occupied_ta3_1_oca1)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b0_a1_a3_b1_oc1b_lco_ta1_1_lco_ta3_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_oc1b) (on_b0_a3) (first_b1_s13))
+  :effect (and (last_b0_s13) (first_b0_s13) (not_occupied_ta3_1_oc1b) (on_b1_a1) (occupied_ta1_1_lco) (not (last_b1_s13)) (not (first_b1_s13)) (not (on_b0_a3)) (not (occupied_ta3_1_oc1b)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b0_a1_a3_b4_oc1b_lco_ta1_1_lco_ta3_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_oc1b) (on_b0_a3) (first_b4_s13))
+  :effect (and (last_b0_s13) (first_b0_s13) (not_occupied_ta3_1_oc1b) (on_b4_a1) (occupied_ta1_1_lco) (not (last_b4_s13)) (not (first_b4_s13)) (not (on_b0_a3)) (not (occupied_ta3_1_oc1b)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b1_a1_a2_b2_lco_gasoleo_ta1_1_gasoleo_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta2_1_lco) (on_b1_a2) (first_b2_s12))
+  :effect (and (last_b1_s12) (first_b1_s12) (not_occupied_ta2_1_lco) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (last_b2_s12)) (not (first_b2_s12)) (not (on_b1_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s12_b2_a1_a2_b2_gasoleo_gasoleo_ta1_1_gasoleo_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta2_1_gasoleo) (on_b2_a2) (first_b2_s12))
+  :effect (and (last_b2_s12) (first_b2_s12) (not_occupied_ta2_1_gasoleo) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (on_b2_a2)) (not (occupied_ta2_1_gasoleo)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s12_b3_a1_a2_b2_rat_a_gasoleo_ta1_1_gasoleo_ta2_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta2_1_rat_a) (on_b3_a2) (first_b2_s12))
+  :effect (and (last_b3_s12) (first_b3_s12) (not_occupied_ta2_1_rat_a) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (last_b2_s12)) (not (first_b2_s12)) (not (on_b3_a2)) (not (occupied_ta2_1_rat_a)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s12_b5_a1_a2_b2_oca1_gasoleo_ta1_1_gasoleo_ta2_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta2_1_oca1) (on_b5_a2) (first_b2_s12))
+  :effect (and (last_b5_s12) (first_b5_s12) (not_occupied_ta2_1_oca1) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (last_b2_s12)) (not (first_b2_s12)) (not (on_b5_a2)) (not (occupied_ta2_1_oca1)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s12_b0_a1_a2_b2_oc1b_gasoleo_ta1_1_gasoleo_ta2_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta2_1_oc1b) (on_b0_a2) (first_b2_s12))
+  :effect (and (last_b0_s12) (first_b0_s12) (not_occupied_ta2_1_oc1b) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (last_b2_s12)) (not (first_b2_s12)) (not (on_b0_a2)) (not (occupied_ta2_1_oc1b)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s13_b4_a1_a3_b2_lco_gasoleo_ta1_1_gasoleo_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta3_1_lco) (on_b4_a3) (first_b2_s13))
+  :effect (and (last_b4_s13) (first_b4_s13) (not_occupied_ta3_1_lco) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (last_b2_s13)) (not (first_b2_s13)) (not (on_b4_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s13_b3_a1_a3_b2_rat_a_gasoleo_ta1_1_gasoleo_ta3_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta3_1_rat_a) (on_b3_a3) (first_b2_s13))
+  :effect (and (last_b3_s13) (first_b3_s13) (not_occupied_ta3_1_rat_a) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (last_b2_s13)) (not (first_b2_s13)) (not (on_b3_a3)) (not (occupied_ta3_1_rat_a)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s13_b0_a1_a3_b2_oc1b_gasoleo_ta1_1_gasoleo_ta3_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta3_1_oc1b) (on_b0_a3) (first_b2_s13))
+  :effect (and (last_b0_s13) (first_b0_s13) (not_occupied_ta3_1_oc1b) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (last_b2_s13)) (not (first_b2_s13)) (not (on_b0_a3)) (not (occupied_ta3_1_oc1b)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s12_b1_a1_a2_b3_lco_rat_a_ta1_1_rat_a_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_rat_a) (occupied_ta2_1_lco) (on_b1_a2) (first_b3_s12))
+  :effect (and (last_b1_s12) (first_b1_s12) (not_occupied_ta2_1_lco) (on_b3_a1) (occupied_ta1_1_rat_a) (not (last_b3_s12)) (not (first_b3_s12)) (not (on_b1_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_rat_a))))
+ (:action pop_unitarypipe_s12_b2_a1_a2_b3_gasoleo_rat_a_ta1_1_rat_a_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_rat_a) (occupied_ta2_1_gasoleo) (on_b2_a2) (first_b3_s12))
+  :effect (and (last_b2_s12) (first_b2_s12) (not_occupied_ta2_1_gasoleo) (on_b3_a1) (occupied_ta1_1_rat_a) (not (last_b3_s12)) (not (first_b3_s12)) (not (on_b2_a2)) (not (occupied_ta2_1_gasoleo)) (not (not_occupied_ta1_1_rat_a))))
+ (:action pop_unitarypipe_s12_b3_a1_a2_b3_rat_a_rat_a_ta1_1_rat_a_ta2_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_rat_a) (occupied_ta2_1_rat_a) (on_b3_a2) (first_b3_s12))
+  :effect (and (last_b3_s12) (first_b3_s12) (not_occupied_ta2_1_rat_a) (on_b3_a1) (occupied_ta1_1_rat_a) (not (on_b3_a2)) (not (occupied_ta2_1_rat_a)) (not (not_occupied_ta1_1_rat_a))))
+ (:action pop_unitarypipe_s13_b4_a1_a3_b3_lco_rat_a_ta1_1_rat_a_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_rat_a) (occupied_ta3_1_lco) (on_b4_a3) (first_b3_s13))
+  :effect (and (last_b4_s13) (first_b4_s13) (not_occupied_ta3_1_lco) (on_b3_a1) (occupied_ta1_1_rat_a) (not (last_b3_s13)) (not (first_b3_s13)) (not (on_b4_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_rat_a))))
+ (:action pop_unitarypipe_s13_b3_a1_a3_b3_rat_a_rat_a_ta1_1_rat_a_ta3_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_rat_a) (occupied_ta3_1_rat_a) (on_b3_a3) (first_b3_s13))
+  :effect (and (last_b3_s13) (first_b3_s13) (not_occupied_ta3_1_rat_a) (on_b3_a1) (occupied_ta1_1_rat_a) (not (on_b3_a3)) (not (occupied_ta3_1_rat_a)) (not (not_occupied_ta1_1_rat_a))))
+ (:action pop_unitarypipe_s12_b1_a1_a2_b5_lco_oca1_ta1_1_oca1_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oca1) (occupied_ta2_1_lco) (on_b1_a2) (first_b5_s12))
+  :effect (and (last_b1_s12) (first_b1_s12) (not_occupied_ta2_1_lco) (on_b5_a1) (occupied_ta1_1_oca1) (not (last_b5_s12)) (not (first_b5_s12)) (not (on_b1_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_oca1))))
+ (:action pop_unitarypipe_s12_b4_a1_a2_b5_lco_oca1_ta1_1_oca1_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oca1) (occupied_ta2_1_lco) (on_b4_a2) (first_b5_s12))
+  :effect (and (last_b4_s12) (first_b4_s12) (not_occupied_ta2_1_lco) (on_b5_a1) (occupied_ta1_1_oca1) (not (last_b5_s12)) (not (first_b5_s12)) (not (on_b4_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_oca1))))
+ (:action pop_unitarypipe_s12_b2_a1_a2_b5_gasoleo_oca1_ta1_1_oca1_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oca1) (occupied_ta2_1_gasoleo) (on_b2_a2) (first_b5_s12))
+  :effect (and (last_b2_s12) (first_b2_s12) (not_occupied_ta2_1_gasoleo) (on_b5_a1) (occupied_ta1_1_oca1) (not (last_b5_s12)) (not (first_b5_s12)) (not (on_b2_a2)) (not (occupied_ta2_1_gasoleo)) (not (not_occupied_ta1_1_oca1))))
+ (:action pop_unitarypipe_s12_b5_a1_a2_b5_oca1_oca1_ta1_1_oca1_ta2_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oca1) (occupied_ta2_1_oca1) (on_b5_a2) (first_b5_s12))
+  :effect (and (last_b5_s12) (first_b5_s12) (not_occupied_ta2_1_oca1) (on_b5_a1) (occupied_ta1_1_oca1) (not (on_b5_a2)) (not (occupied_ta2_1_oca1)) (not (not_occupied_ta1_1_oca1))))
+ (:action pop_unitarypipe_s12_b0_a1_a2_b5_oc1b_oca1_ta1_1_oca1_ta2_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oca1) (occupied_ta2_1_oc1b) (on_b0_a2) (first_b5_s12))
+  :effect (and (last_b0_s12) (first_b0_s12) (not_occupied_ta2_1_oc1b) (on_b5_a1) (occupied_ta1_1_oca1) (not (last_b5_s12)) (not (first_b5_s12)) (not (on_b0_a2)) (not (occupied_ta2_1_oc1b)) (not (not_occupied_ta1_1_oca1))))
+ (:action pop_unitarypipe_s13_b4_a1_a3_b5_lco_oca1_ta1_1_oca1_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oca1) (occupied_ta3_1_lco) (on_b4_a3) (first_b5_s13))
+  :effect (and (last_b4_s13) (first_b4_s13) (not_occupied_ta3_1_lco) (on_b5_a1) (occupied_ta1_1_oca1) (not (last_b5_s13)) (not (first_b5_s13)) (not (on_b4_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_oca1))))
+ (:action pop_unitarypipe_s13_b0_a1_a3_b5_oc1b_oca1_ta1_1_oca1_ta3_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oca1) (occupied_ta3_1_oc1b) (on_b0_a3) (first_b5_s13))
+  :effect (and (last_b0_s13) (first_b0_s13) (not_occupied_ta3_1_oc1b) (on_b5_a1) (occupied_ta1_1_oca1) (not (last_b5_s13)) (not (first_b5_s13)) (not (on_b0_a3)) (not (occupied_ta3_1_oc1b)) (not (not_occupied_ta1_1_oca1))))
+ (:action pop_unitarypipe_s12_b1_a1_a2_b0_lco_oc1b_ta1_1_oc1b_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oc1b) (occupied_ta2_1_lco) (on_b1_a2) (first_b0_s12))
+  :effect (and (last_b1_s12) (first_b1_s12) (not_occupied_ta2_1_lco) (on_b0_a1) (occupied_ta1_1_oc1b) (not (last_b0_s12)) (not (first_b0_s12)) (not (on_b1_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_oc1b))))
+ (:action pop_unitarypipe_s12_b2_a1_a2_b0_gasoleo_oc1b_ta1_1_oc1b_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oc1b) (occupied_ta2_1_gasoleo) (on_b2_a2) (first_b0_s12))
+  :effect (and (last_b2_s12) (first_b2_s12) (not_occupied_ta2_1_gasoleo) (on_b0_a1) (occupied_ta1_1_oc1b) (not (last_b0_s12)) (not (first_b0_s12)) (not (on_b2_a2)) (not (occupied_ta2_1_gasoleo)) (not (not_occupied_ta1_1_oc1b))))
+ (:action pop_unitarypipe_s12_b5_a1_a2_b0_oca1_oc1b_ta1_1_oc1b_ta2_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oc1b) (occupied_ta2_1_oca1) (on_b5_a2) (first_b0_s12))
+  :effect (and (last_b5_s12) (first_b5_s12) (not_occupied_ta2_1_oca1) (on_b0_a1) (occupied_ta1_1_oc1b) (not (last_b0_s12)) (not (first_b0_s12)) (not (on_b5_a2)) (not (occupied_ta2_1_oca1)) (not (not_occupied_ta1_1_oc1b))))
+ (:action pop_unitarypipe_s12_b0_a1_a2_b0_oc1b_oc1b_ta1_1_oc1b_ta2_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oc1b) (occupied_ta2_1_oc1b) (on_b0_a2) (first_b0_s12))
+  :effect (and (last_b0_s12) (first_b0_s12) (not_occupied_ta2_1_oc1b) (on_b0_a1) (occupied_ta1_1_oc1b) (not (on_b0_a2)) (not (occupied_ta2_1_oc1b)) (not (not_occupied_ta1_1_oc1b))))
+ (:action pop_unitarypipe_s13_b4_a1_a3_b0_lco_oc1b_ta1_1_oc1b_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oc1b) (occupied_ta3_1_lco) (on_b4_a3) (first_b0_s13))
+  :effect (and (last_b4_s13) (first_b4_s13) (not_occupied_ta3_1_lco) (on_b0_a1) (occupied_ta1_1_oc1b) (not (last_b0_s13)) (not (first_b0_s13)) (not (on_b4_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_oc1b))))
+ (:action pop_unitarypipe_s13_b0_a1_a3_b0_oc1b_oc1b_ta1_1_oc1b_ta3_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oc1b) (occupied_ta3_1_oc1b) (on_b0_a3) (first_b0_s13))
+  :effect (and (last_b0_s13) (first_b0_s13) (not_occupied_ta3_1_oc1b) (on_b0_a1) (occupied_ta1_1_oc1b) (not (on_b0_a3)) (not (occupied_ta3_1_oc1b)) (not (not_occupied_ta1_1_oc1b))))
+ (:action push_unitarypipe_s12_b1_a1_a2_b1_lco_lco_ta1_1_lco_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_lco) (on_b1_a1) (first_b1_s12))
+  :effect (and (first_b1_s12) (last_b1_s12) (not_occupied_ta1_1_lco) (on_b1_a2) (occupied_ta2_1_lco) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s12_b4_a1_a2_b1_lco_lco_ta1_1_lco_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_lco) (on_b4_a1) (first_b1_s12))
+  :effect (and (first_b4_s12) (last_b4_s12) (not_occupied_ta1_1_lco) (on_b1_a2) (occupied_ta2_1_lco) (not (first_b1_s12)) (not (last_b1_s12)) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s12_b1_a1_a2_b4_lco_lco_ta1_1_lco_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_lco) (on_b1_a1) (first_b4_s12))
+  :effect (and (first_b1_s12) (last_b1_s12) (not_occupied_ta1_1_lco) (on_b4_a2) (occupied_ta2_1_lco) (not (first_b4_s12)) (not (last_b4_s12)) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s12_b4_a1_a2_b4_lco_lco_ta1_1_lco_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_lco) (on_b4_a1) (first_b4_s12))
+  :effect (and (first_b4_s12) (last_b4_s12) (not_occupied_ta1_1_lco) (on_b4_a2) (occupied_ta2_1_lco) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s12_b2_a1_a2_b1_gasoleo_lco_ta1_1_gasoleo_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b1_s12))
+  :effect (and (first_b2_s12) (last_b2_s12) (not_occupied_ta1_1_gasoleo) (on_b1_a2) (occupied_ta2_1_lco) (not (first_b1_s12)) (not (last_b1_s12)) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s12_b3_a1_a2_b1_rat_a_lco_ta1_1_rat_a_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_rat_a) (on_b3_a1) (first_b1_s12))
+  :effect (and (first_b3_s12) (last_b3_s12) (not_occupied_ta1_1_rat_a) (on_b1_a2) (occupied_ta2_1_lco) (not (first_b1_s12)) (not (last_b1_s12)) (not (on_b3_a1)) (not (occupied_ta1_1_rat_a)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s12_b5_a1_a2_b1_oca1_lco_ta1_1_oca1_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_oca1) (on_b5_a1) (first_b1_s12))
+  :effect (and (first_b5_s12) (last_b5_s12) (not_occupied_ta1_1_oca1) (on_b1_a2) (occupied_ta2_1_lco) (not (first_b1_s12)) (not (last_b1_s12)) (not (on_b5_a1)) (not (occupied_ta1_1_oca1)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s12_b5_a1_a2_b4_oca1_lco_ta1_1_oca1_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_oca1) (on_b5_a1) (first_b4_s12))
+  :effect (and (first_b5_s12) (last_b5_s12) (not_occupied_ta1_1_oca1) (on_b4_a2) (occupied_ta2_1_lco) (not (first_b4_s12)) (not (last_b4_s12)) (not (on_b5_a1)) (not (occupied_ta1_1_oca1)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s12_b0_a1_a2_b1_oc1b_lco_ta1_1_oc1b_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_oc1b) (on_b0_a1) (first_b1_s12))
+  :effect (and (first_b0_s12) (last_b0_s12) (not_occupied_ta1_1_oc1b) (on_b1_a2) (occupied_ta2_1_lco) (not (first_b1_s12)) (not (last_b1_s12)) (not (on_b0_a1)) (not (occupied_ta1_1_oc1b)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s12_b1_a1_a2_b2_lco_gasoleo_ta1_1_lco_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_gasoleo) (occupied_ta1_1_lco) (on_b1_a1) (first_b2_s12))
+  :effect (and (first_b1_s12) (last_b1_s12) (not_occupied_ta1_1_lco) (on_b2_a2) (occupied_ta2_1_gasoleo) (not (first_b2_s12)) (not (last_b2_s12)) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_gasoleo))))
+ (:action push_unitarypipe_s12_b4_a1_a2_b2_lco_gasoleo_ta1_1_lco_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_gasoleo) (occupied_ta1_1_lco) (on_b4_a1) (first_b2_s12))
+  :effect (and (first_b4_s12) (last_b4_s12) (not_occupied_ta1_1_lco) (on_b2_a2) (occupied_ta2_1_gasoleo) (not (first_b2_s12)) (not (last_b2_s12)) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_gasoleo))))
+ (:action push_unitarypipe_s12_b2_a1_a2_b2_gasoleo_gasoleo_ta1_1_gasoleo_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_gasoleo) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b2_s12))
+  :effect (and (first_b2_s12) (last_b2_s12) (not_occupied_ta1_1_gasoleo) (on_b2_a2) (occupied_ta2_1_gasoleo) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta2_1_gasoleo))))
+ (:action push_unitarypipe_s12_b3_a1_a2_b2_rat_a_gasoleo_ta1_1_rat_a_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_gasoleo) (occupied_ta1_1_rat_a) (on_b3_a1) (first_b2_s12))
+  :effect (and (first_b3_s12) (last_b3_s12) (not_occupied_ta1_1_rat_a) (on_b2_a2) (occupied_ta2_1_gasoleo) (not (first_b2_s12)) (not (last_b2_s12)) (not (on_b3_a1)) (not (occupied_ta1_1_rat_a)) (not (not_occupied_ta2_1_gasoleo))))
+ (:action push_unitarypipe_s12_b5_a1_a2_b2_oca1_gasoleo_ta1_1_oca1_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_gasoleo) (occupied_ta1_1_oca1) (on_b5_a1) (first_b2_s12))
+  :effect (and (first_b5_s12) (last_b5_s12) (not_occupied_ta1_1_oca1) (on_b2_a2) (occupied_ta2_1_gasoleo) (not (first_b2_s12)) (not (last_b2_s12)) (not (on_b5_a1)) (not (occupied_ta1_1_oca1)) (not (not_occupied_ta2_1_gasoleo))))
+ (:action push_unitarypipe_s12_b0_a1_a2_b2_oc1b_gasoleo_ta1_1_oc1b_ta2_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_gasoleo) (occupied_ta1_1_oc1b) (on_b0_a1) (first_b2_s12))
+  :effect (and (first_b0_s12) (last_b0_s12) (not_occupied_ta1_1_oc1b) (on_b2_a2) (occupied_ta2_1_gasoleo) (not (first_b2_s12)) (not (last_b2_s12)) (not (on_b0_a1)) (not (occupied_ta1_1_oc1b)) (not (not_occupied_ta2_1_gasoleo))))
+ (:action push_unitarypipe_s12_b1_a1_a2_b3_lco_rat_a_ta1_1_lco_ta2_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_rat_a) (occupied_ta1_1_lco) (on_b1_a1) (first_b3_s12))
+  :effect (and (first_b1_s12) (last_b1_s12) (not_occupied_ta1_1_lco) (on_b3_a2) (occupied_ta2_1_rat_a) (not (first_b3_s12)) (not (last_b3_s12)) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_rat_a))))
+ (:action push_unitarypipe_s12_b4_a1_a2_b3_lco_rat_a_ta1_1_lco_ta2_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_rat_a) (occupied_ta1_1_lco) (on_b4_a1) (first_b3_s12))
+  :effect (and (first_b4_s12) (last_b4_s12) (not_occupied_ta1_1_lco) (on_b3_a2) (occupied_ta2_1_rat_a) (not (first_b3_s12)) (not (last_b3_s12)) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_rat_a))))
+ (:action push_unitarypipe_s12_b2_a1_a2_b3_gasoleo_rat_a_ta1_1_gasoleo_ta2_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_rat_a) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b3_s12))
+  :effect (and (first_b2_s12) (last_b2_s12) (not_occupied_ta1_1_gasoleo) (on_b3_a2) (occupied_ta2_1_rat_a) (not (first_b3_s12)) (not (last_b3_s12)) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta2_1_rat_a))))
+ (:action push_unitarypipe_s12_b3_a1_a2_b3_rat_a_rat_a_ta1_1_rat_a_ta2_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_rat_a) (occupied_ta1_1_rat_a) (on_b3_a1) (first_b3_s12))
+  :effect (and (first_b3_s12) (last_b3_s12) (not_occupied_ta1_1_rat_a) (on_b3_a2) (occupied_ta2_1_rat_a) (not (on_b3_a1)) (not (occupied_ta1_1_rat_a)) (not (not_occupied_ta2_1_rat_a))))
+ (:action push_unitarypipe_s12_b1_a1_a2_b5_lco_oca1_ta1_1_lco_ta2_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_oca1) (occupied_ta1_1_lco) (on_b1_a1) (first_b5_s12))
+  :effect (and (first_b1_s12) (last_b1_s12) (not_occupied_ta1_1_lco) (on_b5_a2) (occupied_ta2_1_oca1) (not (first_b5_s12)) (not (last_b5_s12)) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_oca1))))
+ (:action push_unitarypipe_s12_b4_a1_a2_b5_lco_oca1_ta1_1_lco_ta2_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_oca1) (occupied_ta1_1_lco) (on_b4_a1) (first_b5_s12))
+  :effect (and (first_b4_s12) (last_b4_s12) (not_occupied_ta1_1_lco) (on_b5_a2) (occupied_ta2_1_oca1) (not (first_b5_s12)) (not (last_b5_s12)) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_oca1))))
+ (:action push_unitarypipe_s12_b2_a1_a2_b5_gasoleo_oca1_ta1_1_gasoleo_ta2_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_oca1) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b5_s12))
+  :effect (and (first_b2_s12) (last_b2_s12) (not_occupied_ta1_1_gasoleo) (on_b5_a2) (occupied_ta2_1_oca1) (not (first_b5_s12)) (not (last_b5_s12)) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta2_1_oca1))))
+ (:action push_unitarypipe_s12_b5_a1_a2_b5_oca1_oca1_ta1_1_oca1_ta2_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_oca1) (occupied_ta1_1_oca1) (on_b5_a1) (first_b5_s12))
+  :effect (and (first_b5_s12) (last_b5_s12) (not_occupied_ta1_1_oca1) (on_b5_a2) (occupied_ta2_1_oca1) (not (on_b5_a1)) (not (occupied_ta1_1_oca1)) (not (not_occupied_ta2_1_oca1))))
+ (:action push_unitarypipe_s12_b0_a1_a2_b5_oc1b_oca1_ta1_1_oc1b_ta2_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_oca1) (occupied_ta1_1_oc1b) (on_b0_a1) (first_b5_s12))
+  :effect (and (first_b0_s12) (last_b0_s12) (not_occupied_ta1_1_oc1b) (on_b5_a2) (occupied_ta2_1_oca1) (not (first_b5_s12)) (not (last_b5_s12)) (not (on_b0_a1)) (not (occupied_ta1_1_oc1b)) (not (not_occupied_ta2_1_oca1))))
+ (:action push_unitarypipe_s12_b1_a1_a2_b0_lco_oc1b_ta1_1_lco_ta2_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_oc1b) (occupied_ta1_1_lco) (on_b1_a1) (first_b0_s12))
+  :effect (and (first_b1_s12) (last_b1_s12) (not_occupied_ta1_1_lco) (on_b0_a2) (occupied_ta2_1_oc1b) (not (first_b0_s12)) (not (last_b0_s12)) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_oc1b))))
+ (:action push_unitarypipe_s12_b4_a1_a2_b0_lco_oc1b_ta1_1_lco_ta2_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_oc1b) (occupied_ta1_1_lco) (on_b4_a1) (first_b0_s12))
+  :effect (and (first_b4_s12) (last_b4_s12) (not_occupied_ta1_1_lco) (on_b0_a2) (occupied_ta2_1_oc1b) (not (first_b0_s12)) (not (last_b0_s12)) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta2_1_oc1b))))
+ (:action push_unitarypipe_s12_b2_a1_a2_b0_gasoleo_oc1b_ta1_1_gasoleo_ta2_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_oc1b) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b0_s12))
+  :effect (and (first_b2_s12) (last_b2_s12) (not_occupied_ta1_1_gasoleo) (on_b0_a2) (occupied_ta2_1_oc1b) (not (first_b0_s12)) (not (last_b0_s12)) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta2_1_oc1b))))
+ (:action push_unitarypipe_s12_b5_a1_a2_b0_oca1_oc1b_ta1_1_oca1_ta2_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_oc1b) (occupied_ta1_1_oca1) (on_b5_a1) (first_b0_s12))
+  :effect (and (first_b5_s12) (last_b5_s12) (not_occupied_ta1_1_oca1) (on_b0_a2) (occupied_ta2_1_oc1b) (not (first_b0_s12)) (not (last_b0_s12)) (not (on_b5_a1)) (not (occupied_ta1_1_oca1)) (not (not_occupied_ta2_1_oc1b))))
+ (:action push_unitarypipe_s12_b0_a1_a2_b0_oc1b_oc1b_ta1_1_oc1b_ta2_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_oc1b) (occupied_ta1_1_oc1b) (on_b0_a1) (first_b0_s12))
+  :effect (and (first_b0_s12) (last_b0_s12) (not_occupied_ta1_1_oc1b) (on_b0_a2) (occupied_ta2_1_oc1b) (not (on_b0_a1)) (not (occupied_ta1_1_oc1b)) (not (not_occupied_ta2_1_oc1b))))
+ (:action push_unitarypipe_s13_b1_a1_a3_b1_lco_lco_ta1_1_lco_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_lco) (on_b1_a1) (first_b1_s13))
+  :effect (and (first_b1_s13) (last_b1_s13) (not_occupied_ta1_1_lco) (on_b1_a3) (occupied_ta3_1_lco) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b4_a1_a3_b1_lco_lco_ta1_1_lco_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_lco) (on_b4_a1) (first_b1_s13))
+  :effect (and (first_b4_s13) (last_b4_s13) (not_occupied_ta1_1_lco) (on_b1_a3) (occupied_ta3_1_lco) (not (first_b1_s13)) (not (last_b1_s13)) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b1_a1_a3_b4_lco_lco_ta1_1_lco_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_lco) (on_b1_a1) (first_b4_s13))
+  :effect (and (first_b1_s13) (last_b1_s13) (not_occupied_ta1_1_lco) (on_b4_a3) (occupied_ta3_1_lco) (not (first_b4_s13)) (not (last_b4_s13)) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b4_a1_a3_b4_lco_lco_ta1_1_lco_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_lco) (on_b4_a1) (first_b4_s13))
+  :effect (and (first_b4_s13) (last_b4_s13) (not_occupied_ta1_1_lco) (on_b4_a3) (occupied_ta3_1_lco) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b2_a1_a3_b1_gasoleo_lco_ta1_1_gasoleo_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b1_s13))
+  :effect (and (first_b2_s13) (last_b2_s13) (not_occupied_ta1_1_gasoleo) (on_b1_a3) (occupied_ta3_1_lco) (not (first_b1_s13)) (not (last_b1_s13)) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b2_a1_a3_b4_gasoleo_lco_ta1_1_gasoleo_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b4_s13))
+  :effect (and (first_b2_s13) (last_b2_s13) (not_occupied_ta1_1_gasoleo) (on_b4_a3) (occupied_ta3_1_lco) (not (first_b4_s13)) (not (last_b4_s13)) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b3_a1_a3_b1_rat_a_lco_ta1_1_rat_a_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_rat_a) (on_b3_a1) (first_b1_s13))
+  :effect (and (first_b3_s13) (last_b3_s13) (not_occupied_ta1_1_rat_a) (on_b1_a3) (occupied_ta3_1_lco) (not (first_b1_s13)) (not (last_b1_s13)) (not (on_b3_a1)) (not (occupied_ta1_1_rat_a)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b3_a1_a3_b4_rat_a_lco_ta1_1_rat_a_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_rat_a) (on_b3_a1) (first_b4_s13))
+  :effect (and (first_b3_s13) (last_b3_s13) (not_occupied_ta1_1_rat_a) (on_b4_a3) (occupied_ta3_1_lco) (not (first_b4_s13)) (not (last_b4_s13)) (not (on_b3_a1)) (not (occupied_ta1_1_rat_a)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b5_a1_a3_b1_oca1_lco_ta1_1_oca1_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_oca1) (on_b5_a1) (first_b1_s13))
+  :effect (and (first_b5_s13) (last_b5_s13) (not_occupied_ta1_1_oca1) (on_b1_a3) (occupied_ta3_1_lco) (not (first_b1_s13)) (not (last_b1_s13)) (not (on_b5_a1)) (not (occupied_ta1_1_oca1)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b5_a1_a3_b4_oca1_lco_ta1_1_oca1_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_oca1) (on_b5_a1) (first_b4_s13))
+  :effect (and (first_b5_s13) (last_b5_s13) (not_occupied_ta1_1_oca1) (on_b4_a3) (occupied_ta3_1_lco) (not (first_b4_s13)) (not (last_b4_s13)) (not (on_b5_a1)) (not (occupied_ta1_1_oca1)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b0_a1_a3_b1_oc1b_lco_ta1_1_oc1b_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_oc1b) (on_b0_a1) (first_b1_s13))
+  :effect (and (first_b0_s13) (last_b0_s13) (not_occupied_ta1_1_oc1b) (on_b1_a3) (occupied_ta3_1_lco) (not (first_b1_s13)) (not (last_b1_s13)) (not (on_b0_a1)) (not (occupied_ta1_1_oc1b)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b0_a1_a3_b4_oc1b_lco_ta1_1_oc1b_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_lco) (occupied_ta1_1_oc1b) (on_b0_a1) (first_b4_s13))
+  :effect (and (first_b0_s13) (last_b0_s13) (not_occupied_ta1_1_oc1b) (on_b4_a3) (occupied_ta3_1_lco) (not (first_b4_s13)) (not (last_b4_s13)) (not (on_b0_a1)) (not (occupied_ta1_1_oc1b)) (not (not_occupied_ta3_1_lco))))
+ (:action push_unitarypipe_s13_b1_a1_a3_b2_lco_gasoleo_ta1_1_lco_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_gasoleo) (occupied_ta1_1_lco) (on_b1_a1) (first_b2_s13))
+  :effect (and (first_b1_s13) (last_b1_s13) (not_occupied_ta1_1_lco) (on_b2_a3) (occupied_ta3_1_gasoleo) (not (first_b2_s13)) (not (last_b2_s13)) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_gasoleo))))
+ (:action push_unitarypipe_s13_b4_a1_a3_b2_lco_gasoleo_ta1_1_lco_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_gasoleo) (occupied_ta1_1_lco) (on_b4_a1) (first_b2_s13))
+  :effect (and (first_b4_s13) (last_b4_s13) (not_occupied_ta1_1_lco) (on_b2_a3) (occupied_ta3_1_gasoleo) (not (first_b2_s13)) (not (last_b2_s13)) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_gasoleo))))
+ (:action push_unitarypipe_s13_b5_a1_a3_b2_oca1_gasoleo_ta1_1_oca1_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_gasoleo) (occupied_ta1_1_oca1) (on_b5_a1) (first_b2_s13))
+  :effect (and (first_b5_s13) (last_b5_s13) (not_occupied_ta1_1_oca1) (on_b2_a3) (occupied_ta3_1_gasoleo) (not (first_b2_s13)) (not (last_b2_s13)) (not (on_b5_a1)) (not (occupied_ta1_1_oca1)) (not (not_occupied_ta3_1_gasoleo))))
+ (:action push_unitarypipe_s13_b1_a1_a3_b3_lco_rat_a_ta1_1_lco_ta3_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_rat_a) (occupied_ta1_1_lco) (on_b1_a1) (first_b3_s13))
+  :effect (and (first_b1_s13) (last_b1_s13) (not_occupied_ta1_1_lco) (on_b3_a3) (occupied_ta3_1_rat_a) (not (first_b3_s13)) (not (last_b3_s13)) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_rat_a))))
+ (:action push_unitarypipe_s13_b4_a1_a3_b3_lco_rat_a_ta1_1_lco_ta3_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_rat_a) (occupied_ta1_1_lco) (on_b4_a1) (first_b3_s13))
+  :effect (and (first_b4_s13) (last_b4_s13) (not_occupied_ta1_1_lco) (on_b3_a3) (occupied_ta3_1_rat_a) (not (first_b3_s13)) (not (last_b3_s13)) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_rat_a))))
+ (:action push_unitarypipe_s13_b2_a1_a3_b3_gasoleo_rat_a_ta1_1_gasoleo_ta3_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_rat_a) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b3_s13))
+  :effect (and (first_b2_s13) (last_b2_s13) (not_occupied_ta1_1_gasoleo) (on_b3_a3) (occupied_ta3_1_rat_a) (not (first_b3_s13)) (not (last_b3_s13)) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta3_1_rat_a))))
+ (:action push_unitarypipe_s13_b3_a1_a3_b3_rat_a_rat_a_ta1_1_rat_a_ta3_1_rat_a
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_rat_a) (occupied_ta1_1_rat_a) (on_b3_a1) (first_b3_s13))
+  :effect (and (first_b3_s13) (last_b3_s13) (not_occupied_ta1_1_rat_a) (on_b3_a3) (occupied_ta3_1_rat_a) (not (on_b3_a1)) (not (occupied_ta1_1_rat_a)) (not (not_occupied_ta3_1_rat_a))))
+ (:action push_unitarypipe_s13_b1_a1_a3_b5_lco_oca1_ta1_1_lco_ta3_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_oca1) (occupied_ta1_1_lco) (on_b1_a1) (first_b5_s13))
+  :effect (and (first_b1_s13) (last_b1_s13) (not_occupied_ta1_1_lco) (on_b5_a3) (occupied_ta3_1_oca1) (not (first_b5_s13)) (not (last_b5_s13)) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_oca1))))
+ (:action push_unitarypipe_s13_b4_a1_a3_b5_lco_oca1_ta1_1_lco_ta3_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_oca1) (occupied_ta1_1_lco) (on_b4_a1) (first_b5_s13))
+  :effect (and (first_b4_s13) (last_b4_s13) (not_occupied_ta1_1_lco) (on_b5_a3) (occupied_ta3_1_oca1) (not (first_b5_s13)) (not (last_b5_s13)) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_oca1))))
+ (:action push_unitarypipe_s13_b5_a1_a3_b5_oca1_oca1_ta1_1_oca1_ta3_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_oca1) (occupied_ta1_1_oca1) (on_b5_a1) (first_b5_s13))
+  :effect (and (first_b5_s13) (last_b5_s13) (not_occupied_ta1_1_oca1) (on_b5_a3) (occupied_ta3_1_oca1) (not (on_b5_a1)) (not (occupied_ta1_1_oca1)) (not (not_occupied_ta3_1_oca1))))
+ (:action push_unitarypipe_s13_b1_a1_a3_b0_lco_oc1b_ta1_1_lco_ta3_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_oc1b) (occupied_ta1_1_lco) (on_b1_a1) (first_b0_s13))
+  :effect (and (first_b1_s13) (last_b1_s13) (not_occupied_ta1_1_lco) (on_b0_a3) (occupied_ta3_1_oc1b) (not (first_b0_s13)) (not (last_b0_s13)) (not (on_b1_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_oc1b))))
+ (:action push_unitarypipe_s13_b4_a1_a3_b0_lco_oc1b_ta1_1_lco_ta3_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_oc1b) (occupied_ta1_1_lco) (on_b4_a1) (first_b0_s13))
+  :effect (and (first_b4_s13) (last_b4_s13) (not_occupied_ta1_1_lco) (on_b0_a3) (occupied_ta3_1_oc1b) (not (first_b0_s13)) (not (last_b0_s13)) (not (on_b4_a1)) (not (occupied_ta1_1_lco)) (not (not_occupied_ta3_1_oc1b))))
+ (:action push_unitarypipe_s13_b2_a1_a3_b0_gasoleo_oc1b_ta1_1_gasoleo_ta3_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_oc1b) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b0_s13))
+  :effect (and (first_b2_s13) (last_b2_s13) (not_occupied_ta1_1_gasoleo) (on_b0_a3) (occupied_ta3_1_oc1b) (not (first_b0_s13)) (not (last_b0_s13)) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta3_1_oc1b))))
+ (:action push_unitarypipe_s13_b5_a1_a3_b0_oca1_oc1b_ta1_1_oca1_ta3_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_oc1b) (occupied_ta1_1_oca1) (on_b5_a1) (first_b0_s13))
+  :effect (and (first_b5_s13) (last_b5_s13) (not_occupied_ta1_1_oca1) (on_b0_a3) (occupied_ta3_1_oc1b) (not (first_b0_s13)) (not (last_b0_s13)) (not (on_b5_a1)) (not (occupied_ta1_1_oca1)) (not (not_occupied_ta3_1_oc1b))))
+ (:action push_unitarypipe_s13_b0_a1_a3_b0_oc1b_oc1b_ta1_1_oc1b_ta3_1_oc1b
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_oc1b) (occupied_ta1_1_oc1b) (on_b0_a1) (first_b0_s13))
+  :effect (and (first_b0_s13) (last_b0_s13) (not_occupied_ta1_1_oc1b) (on_b0_a3) (occupied_ta3_1_oc1b) (not (on_b0_a1)) (not (occupied_ta1_1_oc1b)) (not (not_occupied_ta3_1_oc1b))))
+ (:action pop_unitarypipe_s12_b4_a1_a2_b4_lco_lco_ta1_1_lco_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta2_1_lco) (on_b4_a2) (first_b4_s12))
+  :effect (and (last_b4_s12) (first_b4_s12) (not_occupied_ta2_1_lco) (on_b4_a1) (occupied_ta1_1_lco) (not (on_b4_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b1_a1_a3_b1_lco_lco_ta1_1_lco_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_lco) (on_b1_a3) (first_b1_s13))
+  :effect (and (last_b1_s13) (first_b1_s13) (not_occupied_ta3_1_lco) (on_b1_a1) (occupied_ta1_1_lco) (not (on_b1_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b2_a1_a3_b1_gasoleo_lco_ta1_1_lco_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_gasoleo) (on_b2_a3) (first_b1_s13))
+  :effect (and (last_b2_s13) (first_b2_s13) (not_occupied_ta3_1_gasoleo) (on_b1_a1) (occupied_ta1_1_lco) (not (last_b1_s13)) (not (first_b1_s13)) (not (on_b2_a3)) (not (occupied_ta3_1_gasoleo)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s13_b5_a1_a3_b1_oca1_lco_ta1_1_lco_ta3_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_lco) (occupied_ta3_1_oca1) (on_b5_a3) (first_b1_s13))
+  :effect (and (last_b5_s13) (first_b5_s13) (not_occupied_ta3_1_oca1) (on_b1_a1) (occupied_ta1_1_lco) (not (last_b1_s13)) (not (first_b1_s13)) (not (on_b5_a3)) (not (occupied_ta3_1_oca1)) (not (not_occupied_ta1_1_lco))))
+ (:action pop_unitarypipe_s12_b4_a1_a2_b2_lco_gasoleo_ta1_1_gasoleo_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta2_1_lco) (on_b4_a2) (first_b2_s12))
+  :effect (and (last_b4_s12) (first_b4_s12) (not_occupied_ta2_1_lco) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (last_b2_s12)) (not (first_b2_s12)) (not (on_b4_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s13_b1_a1_a3_b2_lco_gasoleo_ta1_1_gasoleo_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta3_1_lco) (on_b1_a3) (first_b2_s13))
+  :effect (and (last_b1_s13) (first_b1_s13) (not_occupied_ta3_1_lco) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (last_b2_s13)) (not (first_b2_s13)) (not (on_b1_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s13_b2_a1_a3_b2_gasoleo_gasoleo_ta1_1_gasoleo_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta3_1_gasoleo) (on_b2_a3) (first_b2_s13))
+  :effect (and (last_b2_s13) (first_b2_s13) (not_occupied_ta3_1_gasoleo) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (on_b2_a3)) (not (occupied_ta3_1_gasoleo)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s13_b5_a1_a3_b2_oca1_gasoleo_ta1_1_gasoleo_ta3_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_gasoleo) (occupied_ta3_1_oca1) (on_b5_a3) (first_b2_s13))
+  :effect (and (last_b5_s13) (first_b5_s13) (not_occupied_ta3_1_oca1) (on_b2_a1) (occupied_ta1_1_gasoleo) (not (last_b2_s13)) (not (first_b2_s13)) (not (on_b5_a3)) (not (occupied_ta3_1_oca1)) (not (not_occupied_ta1_1_gasoleo))))
+ (:action pop_unitarypipe_s12_b4_a1_a2_b3_lco_rat_a_ta1_1_rat_a_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_rat_a) (occupied_ta2_1_lco) (on_b4_a2) (first_b3_s12))
+  :effect (and (last_b4_s12) (first_b4_s12) (not_occupied_ta2_1_lco) (on_b3_a1) (occupied_ta1_1_rat_a) (not (last_b3_s12)) (not (first_b3_s12)) (not (on_b4_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_rat_a))))
+ (:action pop_unitarypipe_s13_b1_a1_a3_b3_lco_rat_a_ta1_1_rat_a_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_rat_a) (occupied_ta3_1_lco) (on_b1_a3) (first_b3_s13))
+  :effect (and (last_b1_s13) (first_b1_s13) (not_occupied_ta3_1_lco) (on_b3_a1) (occupied_ta1_1_rat_a) (not (last_b3_s13)) (not (first_b3_s13)) (not (on_b1_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_rat_a))))
+ (:action pop_unitarypipe_s13_b2_a1_a3_b3_gasoleo_rat_a_ta1_1_rat_a_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_rat_a) (occupied_ta3_1_gasoleo) (on_b2_a3) (first_b3_s13))
+  :effect (and (last_b2_s13) (first_b2_s13) (not_occupied_ta3_1_gasoleo) (on_b3_a1) (occupied_ta1_1_rat_a) (not (last_b3_s13)) (not (first_b3_s13)) (not (on_b2_a3)) (not (occupied_ta3_1_gasoleo)) (not (not_occupied_ta1_1_rat_a))))
+ (:action pop_unitarypipe_s13_b1_a1_a3_b5_lco_oca1_ta1_1_oca1_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oca1) (occupied_ta3_1_lco) (on_b1_a3) (first_b5_s13))
+  :effect (and (last_b1_s13) (first_b1_s13) (not_occupied_ta3_1_lco) (on_b5_a1) (occupied_ta1_1_oca1) (not (last_b5_s13)) (not (first_b5_s13)) (not (on_b1_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_oca1))))
+ (:action pop_unitarypipe_s13_b2_a1_a3_b5_gasoleo_oca1_ta1_1_oca1_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oca1) (occupied_ta3_1_gasoleo) (on_b2_a3) (first_b5_s13))
+  :effect (and (last_b2_s13) (first_b2_s13) (not_occupied_ta3_1_gasoleo) (on_b5_a1) (occupied_ta1_1_oca1) (not (last_b5_s13)) (not (first_b5_s13)) (not (on_b2_a3)) (not (occupied_ta3_1_gasoleo)) (not (not_occupied_ta1_1_oca1))))
+ (:action pop_unitarypipe_s13_b5_a1_a3_b5_oca1_oca1_ta1_1_oca1_ta3_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oca1) (occupied_ta3_1_oca1) (on_b5_a3) (first_b5_s13))
+  :effect (and (last_b5_s13) (first_b5_s13) (not_occupied_ta3_1_oca1) (on_b5_a1) (occupied_ta1_1_oca1) (not (on_b5_a3)) (not (occupied_ta3_1_oca1)) (not (not_occupied_ta1_1_oca1))))
+ (:action pop_unitarypipe_s12_b4_a1_a2_b0_lco_oc1b_ta1_1_oc1b_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oc1b) (occupied_ta2_1_lco) (on_b4_a2) (first_b0_s12))
+  :effect (and (last_b4_s12) (first_b4_s12) (not_occupied_ta2_1_lco) (on_b0_a1) (occupied_ta1_1_oc1b) (not (last_b0_s12)) (not (first_b0_s12)) (not (on_b4_a2)) (not (occupied_ta2_1_lco)) (not (not_occupied_ta1_1_oc1b))))
+ (:action pop_unitarypipe_s13_b1_a1_a3_b0_lco_oc1b_ta1_1_oc1b_ta3_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oc1b) (occupied_ta3_1_lco) (on_b1_a3) (first_b0_s13))
+  :effect (and (last_b1_s13) (first_b1_s13) (not_occupied_ta3_1_lco) (on_b0_a1) (occupied_ta1_1_oc1b) (not (last_b0_s13)) (not (first_b0_s13)) (not (on_b1_a3)) (not (occupied_ta3_1_lco)) (not (not_occupied_ta1_1_oc1b))))
+ (:action pop_unitarypipe_s13_b2_a1_a3_b0_gasoleo_oc1b_ta1_1_oc1b_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oc1b) (occupied_ta3_1_gasoleo) (on_b2_a3) (first_b0_s13))
+  :effect (and (last_b2_s13) (first_b2_s13) (not_occupied_ta3_1_gasoleo) (on_b0_a1) (occupied_ta1_1_oc1b) (not (last_b0_s13)) (not (first_b0_s13)) (not (on_b2_a3)) (not (occupied_ta3_1_gasoleo)) (not (not_occupied_ta1_1_oc1b))))
+ (:action pop_unitarypipe_s13_b5_a1_a3_b0_oca1_oc1b_ta1_1_oc1b_ta3_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta1_1_oc1b) (occupied_ta3_1_oca1) (on_b5_a3) (first_b0_s13))
+  :effect (and (last_b5_s13) (first_b5_s13) (not_occupied_ta3_1_oca1) (on_b0_a1) (occupied_ta1_1_oc1b) (not (last_b0_s13)) (not (first_b0_s13)) (not (on_b5_a3)) (not (occupied_ta3_1_oca1)) (not (not_occupied_ta1_1_oc1b))))
+ (:action push_unitarypipe_s12_b2_a1_a2_b4_gasoleo_lco_ta1_1_gasoleo_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b4_s12))
+  :effect (and (first_b2_s12) (last_b2_s12) (not_occupied_ta1_1_gasoleo) (on_b4_a2) (occupied_ta2_1_lco) (not (first_b4_s12)) (not (last_b4_s12)) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s12_b3_a1_a2_b4_rat_a_lco_ta1_1_rat_a_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_rat_a) (on_b3_a1) (first_b4_s12))
+  :effect (and (first_b3_s12) (last_b3_s12) (not_occupied_ta1_1_rat_a) (on_b4_a2) (occupied_ta2_1_lco) (not (first_b4_s12)) (not (last_b4_s12)) (not (on_b3_a1)) (not (occupied_ta1_1_rat_a)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s12_b0_a1_a2_b4_oc1b_lco_ta1_1_oc1b_ta2_1_lco
+  :parameters ()
+  :precondition (and (not_occupied_ta2_1_lco) (occupied_ta1_1_oc1b) (on_b0_a1) (first_b4_s12))
+  :effect (and (first_b0_s12) (last_b0_s12) (not_occupied_ta1_1_oc1b) (on_b4_a2) (occupied_ta2_1_lco) (not (first_b4_s12)) (not (last_b4_s12)) (not (on_b0_a1)) (not (occupied_ta1_1_oc1b)) (not (not_occupied_ta2_1_lco))))
+ (:action push_unitarypipe_s13_b2_a1_a3_b2_gasoleo_gasoleo_ta1_1_gasoleo_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_gasoleo) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b2_s13))
+  :effect (and (first_b2_s13) (last_b2_s13) (not_occupied_ta1_1_gasoleo) (on_b2_a3) (occupied_ta3_1_gasoleo) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta3_1_gasoleo))))
+ (:action push_unitarypipe_s13_b3_a1_a3_b2_rat_a_gasoleo_ta1_1_rat_a_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_gasoleo) (occupied_ta1_1_rat_a) (on_b3_a1) (first_b2_s13))
+  :effect (and (first_b3_s13) (last_b3_s13) (not_occupied_ta1_1_rat_a) (on_b2_a3) (occupied_ta3_1_gasoleo) (not (first_b2_s13)) (not (last_b2_s13)) (not (on_b3_a1)) (not (occupied_ta1_1_rat_a)) (not (not_occupied_ta3_1_gasoleo))))
+ (:action push_unitarypipe_s13_b0_a1_a3_b2_oc1b_gasoleo_ta1_1_oc1b_ta3_1_gasoleo
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_gasoleo) (occupied_ta1_1_oc1b) (on_b0_a1) (first_b2_s13))
+  :effect (and (first_b0_s13) (last_b0_s13) (not_occupied_ta1_1_oc1b) (on_b2_a3) (occupied_ta3_1_gasoleo) (not (first_b2_s13)) (not (last_b2_s13)) (not (on_b0_a1)) (not (occupied_ta1_1_oc1b)) (not (not_occupied_ta3_1_gasoleo))))
+ (:action push_unitarypipe_s13_b2_a1_a3_b5_gasoleo_oca1_ta1_1_gasoleo_ta3_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_oca1) (occupied_ta1_1_gasoleo) (on_b2_a1) (first_b5_s13))
+  :effect (and (first_b2_s13) (last_b2_s13) (not_occupied_ta1_1_gasoleo) (on_b5_a3) (occupied_ta3_1_oca1) (not (first_b5_s13)) (not (last_b5_s13)) (not (on_b2_a1)) (not (occupied_ta1_1_gasoleo)) (not (not_occupied_ta3_1_oca1))))
+ (:action push_unitarypipe_s13_b0_a1_a3_b5_oc1b_oca1_ta1_1_oc1b_ta3_1_oca1
+  :parameters ()
+  :precondition (and (not_occupied_ta3_1_oca1) (occupied_ta1_1_oc1b) (on_b0_a1) (first_b5_s13))
+  :effect (and (first_b0_s13) (last_b0_s13) (not_occupied_ta1_1_oc1b) (on_b5_a3) (occupied_ta3_1_oca1) (not (first_b5_s13)) (not (last_b5_s13)) (not (on_b0_a1)) (not (occupied_ta1_1_oc1b)) (not (not_occupied_ta3_1_oca1))))
+)
diff --git a/planning/problems/upf/ipc2006-pipesworld-propositional-strips/max_depth.txt b/planning/problems/upf/ipc2006-pipesworld-propositional-strips/max_depth.txt
new file mode 100644
index 00000000..56a6051c
--- /dev/null
+++ b/planning/problems/upf/ipc2006-pipesworld-propositional-strips/max_depth.txt
@@ -0,0 +1 @@
+1
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2006-pipesworld-propositional-strips/problem.pddl b/planning/problems/upf/ipc2006-pipesworld-propositional-strips/problem.pddl
new file mode 100644
index 00000000..977a79b0
--- /dev/null
+++ b/planning/problems/upf/ipc2006-pipesworld-propositional-strips/problem.pddl
@@ -0,0 +1,5 @@
+(define (problem grounded_strips_p01_net1_b6_g2_rt0_instance-problem)
+ (:domain grounded_strips_p01_net1_b6_g2_rt0_instance-domain)
+ (:init (last_b5_s13) (first_b5_s13) (last_b4_s12) (first_b4_s12) (not_occupied_ta3_1_oc1b) (not_occupied_ta3_1_oca1) (not_occupied_ta3_1_rat_a) (not_occupied_ta3_1_gasoleo) (not_occupied_ta2_1_oc1b) (not_occupied_ta2_1_oca1) (not_occupied_ta2_1_rat_a) (not_occupied_ta2_1_gasoleo) (not_occupied_ta2_1_lco) (not_occupied_ta1_1_oca1) (not_occupied_ta1_1_lco) (occupied_ta1_1_gasoleo) (on_b2_a1) (occupied_ta3_1_lco) (on_b1_a3) (occupied_ta1_1_rat_a) (on_b3_a1) (occupied_ta1_1_oc1b) (on_b0_a1))
+ (:goal (and (on_b5_a2) (on_b2_a3)))
+)
diff --git a/planning/problems/upf/ipc2006-pipesworld-propositional/domain.pddl b/planning/problems/upf/ipc2006-pipesworld-propositional/domain.pddl
new file mode 100644
index 00000000..6fda49b8
--- /dev/null
+++ b/planning/problems/upf/ipc2006-pipesworld-propositional/domain.pddl
@@ -0,0 +1,29 @@
+(define (domain p01_net1_b6_g2_rt0_instance-domain)
+ (:requirements :strips :typing)
+ (:types pipe area product batch_atom tank_slot)
+ (:predicates (connect ?from - area ?to - area ?pipe - pipe) (unitary ?pipe - pipe) (not_unitary ?pipe - pipe) (last ?batch_atom - batch_atom ?pipe - pipe) (first ?batch_atom - batch_atom ?pipe - pipe) (follow ?next - batch_atom ?previous - batch_atom) (is_product ?batch_atom - batch_atom ?product - product) (on ?batch_atom - batch_atom ?area - area) (may_interface ?product_a - product ?product_b - product) (normal ?pipe - pipe) (push_updating ?pipe - pipe) (pop_updating ?pipe - pipe) (tank_slot_product_location ?tank_slot - tank_slot ?product - product ?area - area) (occupied ?tank_slot - tank_slot) (not_occupied ?tank_slot - tank_slot))
+ (:action push_start
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?first_batch_atom - batch_atom ?product_batch_atom_in - product ?product_first_batch - product ?tank_slot - tank_slot)
+  :precondition (and (normal ?pipe) (not_unitary ?pipe) (connect ?from_area ?to_area ?pipe) (first ?first_batch_atom ?pipe) (on ?batch_atom_in ?from_area) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?first_batch_atom ?product_first_batch) (may_interface ?product_batch_atom_in ?product_first_batch) (tank_slot_product_location ?tank_slot ?product_batch_atom_in ?from_area) (occupied ?tank_slot))
+  :effect (and (push_updating ?pipe) (not (normal ?pipe)) (first ?batch_atom_in ?pipe) (not (first ?first_batch_atom ?pipe)) (follow ?first_batch_atom ?batch_atom_in) (not (on ?batch_atom_in ?from_area)) (not (occupied ?tank_slot)) (not_occupied ?tank_slot)))
+ (:action push_end
+  :parameters ( ?pipe - pipe ?from_area - area ?to_area - area ?last_batch_atom - batch_atom ?next_last_batch_atom - batch_atom ?product_last_batch - product ?tank_slot - tank_slot)
+  :precondition (and (push_updating ?pipe) (not_unitary ?pipe) (connect ?from_area ?to_area ?pipe) (last ?last_batch_atom ?pipe) (follow ?last_batch_atom ?next_last_batch_atom) (is_product ?last_batch_atom ?product_last_batch) (tank_slot_product_location ?tank_slot ?product_last_batch ?to_area) (not_occupied ?tank_slot))
+  :effect (and (not (push_updating ?pipe)) (normal ?pipe) (not (follow ?last_batch_atom ?next_last_batch_atom)) (last ?next_last_batch_atom ?pipe) (not (last ?last_batch_atom ?pipe)) (on ?last_batch_atom ?to_area) (occupied ?tank_slot) (not (not_occupied ?tank_slot))))
+ (:action pop_start
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?last_batch_atom - batch_atom ?product_batch_atom_in - product ?product_last_batch - product ?tank_slot - tank_slot)
+  :precondition (and (normal ?pipe) (not_unitary ?pipe) (connect ?from_area ?to_area ?pipe) (last ?last_batch_atom ?pipe) (on ?batch_atom_in ?to_area) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?last_batch_atom ?product_last_batch) (may_interface ?product_batch_atom_in ?product_last_batch) (tank_slot_product_location ?tank_slot ?product_batch_atom_in ?to_area) (occupied ?tank_slot))
+  :effect (and (pop_updating ?pipe) (not (normal ?pipe)) (last ?batch_atom_in ?pipe) (not (last ?last_batch_atom ?pipe)) (follow ?batch_atom_in ?last_batch_atom) (not (on ?batch_atom_in ?to_area)) (not (occupied ?tank_slot)) (not_occupied ?tank_slot)))
+ (:action pop_end
+  :parameters ( ?pipe - pipe ?from_area - area ?to_area - area ?first_batch_atom - batch_atom ?next_first_batch_atom - batch_atom ?product_first_batch - product ?tank_slot - tank_slot)
+  :precondition (and (pop_updating ?pipe) (not_unitary ?pipe) (connect ?from_area ?to_area ?pipe) (first ?first_batch_atom ?pipe) (follow ?next_first_batch_atom ?first_batch_atom) (tank_slot_product_location ?tank_slot ?product_first_batch ?from_area) (not_occupied ?tank_slot))
+  :effect (and (not (pop_updating ?pipe)) (normal ?pipe) (not (follow ?next_first_batch_atom ?first_batch_atom)) (first ?next_first_batch_atom ?pipe) (not (first ?first_batch_atom ?pipe)) (on ?first_batch_atom ?from_area) (occupied ?tank_slot) (not (not_occupied ?tank_slot))))
+ (:action push_unitarypipe
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?first_batch_atom - batch_atom ?product_batch_atom_in - product ?product_first_batch - product ?from_tank_slot - tank_slot ?to_tank_slot - tank_slot)
+  :precondition (and (first ?first_batch_atom ?pipe) (connect ?from_area ?to_area ?pipe) (on ?batch_atom_in ?from_area) (unitary ?pipe) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?first_batch_atom ?product_first_batch) (may_interface ?product_batch_atom_in ?product_first_batch) (tank_slot_product_location ?from_tank_slot ?product_batch_atom_in ?from_area) (occupied ?from_tank_slot) (tank_slot_product_location ?to_tank_slot ?product_first_batch ?to_area) (not_occupied ?to_tank_slot))
+  :effect (and (first ?batch_atom_in ?pipe) (not (first ?first_batch_atom ?pipe)) (last ?batch_atom_in ?pipe) (not (last ?first_batch_atom ?pipe)) (not (on ?batch_atom_in ?from_area)) (not (occupied ?from_tank_slot)) (not_occupied ?from_tank_slot) (on ?first_batch_atom ?to_area) (occupied ?to_tank_slot) (not (not_occupied ?to_tank_slot))))
+ (:action pop_unitarypipe
+  :parameters ( ?pipe - pipe ?batch_atom_in - batch_atom ?from_area - area ?to_area - area ?first_batch_atom - batch_atom ?product_batch_atom_in - product ?product_first_batch - product ?from_tank_slot - tank_slot ?to_tank_slot - tank_slot)
+  :precondition (and (first ?first_batch_atom ?pipe) (connect ?from_area ?to_area ?pipe) (on ?batch_atom_in ?to_area) (unitary ?pipe) (is_product ?batch_atom_in ?product_batch_atom_in) (is_product ?first_batch_atom ?product_first_batch) (may_interface ?product_batch_atom_in ?product_first_batch) (tank_slot_product_location ?to_tank_slot ?product_batch_atom_in ?to_area) (occupied ?to_tank_slot) (tank_slot_product_location ?from_tank_slot ?product_first_batch ?from_area) (not_occupied ?from_tank_slot))
+  :effect (and (last ?batch_atom_in ?pipe) (not (last ?first_batch_atom ?pipe)) (first ?batch_atom_in ?pipe) (not (first ?first_batch_atom ?pipe)) (not (on ?batch_atom_in ?to_area)) (not (occupied ?to_tank_slot)) (not_occupied ?to_tank_slot) (on ?first_batch_atom ?from_area) (occupied ?from_tank_slot) (not (not_occupied ?from_tank_slot))))
+)
diff --git a/planning/problems/upf/ipc2006-pipesworld-propositional/max_depth.txt b/planning/problems/upf/ipc2006-pipesworld-propositional/max_depth.txt
new file mode 100644
index 00000000..bf0d87ab
--- /dev/null
+++ b/planning/problems/upf/ipc2006-pipesworld-propositional/max_depth.txt
@@ -0,0 +1 @@
+4
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2006-pipesworld-propositional/problem.pddl b/planning/problems/upf/ipc2006-pipesworld-propositional/problem.pddl
new file mode 100644
index 00000000..8e71d708
--- /dev/null
+++ b/planning/problems/upf/ipc2006-pipesworld-propositional/problem.pddl
@@ -0,0 +1,12 @@
+(define (problem p01_net1_b6_g2_rt0_instance-problem)
+ (:domain p01_net1_b6_g2_rt0_instance-domain)
+ (:objects
+   s12 s13 - pipe
+   a1 a2 a3 - area
+   lco gasoleo rat_a oca1 oc1b - product
+   b0 b3 b1 b4 b2 b5 - batch_atom
+   ta1_1_lco ta1_1_gasoleo ta1_1_rat_a ta1_1_oca1 ta1_1_oc1b ta2_1_lco ta2_1_gasoleo ta2_1_rat_a ta2_1_oca1 ta2_1_oc1b ta3_1_lco ta3_1_gasoleo ta3_1_rat_a ta3_1_oca1 ta3_1_oc1b - tank_slot
+ )
+ (:init (normal s12) (normal s13) (may_interface lco lco) (may_interface gasoleo gasoleo) (may_interface rat_a rat_a) (may_interface oca1 oca1) (may_interface oc1b oc1b) (may_interface lco gasoleo) (may_interface gasoleo lco) (may_interface lco oca1) (may_interface oca1 lco) (may_interface lco oc1b) (may_interface oc1b lco) (may_interface lco rat_a) (may_interface rat_a lco) (may_interface gasoleo rat_a) (may_interface rat_a gasoleo) (may_interface gasoleo oca1) (may_interface oca1 gasoleo) (may_interface gasoleo oc1b) (may_interface oc1b gasoleo) (may_interface oca1 oc1b) (may_interface oc1b oca1) (connect a1 a2 s12) (connect a1 a3 s13) (tank_slot_product_location ta1_1_lco lco a1) (tank_slot_product_location ta1_1_gasoleo gasoleo a1) (tank_slot_product_location ta1_1_rat_a rat_a a1) (tank_slot_product_location ta1_1_oca1 oca1 a1) (tank_slot_product_location ta1_1_oc1b oc1b a1) (tank_slot_product_location ta2_1_lco lco a2) (tank_slot_product_location ta2_1_gasoleo gasoleo a2) (tank_slot_product_location ta2_1_rat_a rat_a a2) (tank_slot_product_location ta2_1_oca1 oca1 a2) (tank_slot_product_location ta2_1_oc1b oc1b a2) (tank_slot_product_location ta3_1_lco lco a3) (tank_slot_product_location ta3_1_gasoleo gasoleo a3) (tank_slot_product_location ta3_1_rat_a rat_a a3) (tank_slot_product_location ta3_1_oca1 oca1 a3) (tank_slot_product_location ta3_1_oc1b oc1b a3) (is_product b0 oc1b) (is_product b3 rat_a) (is_product b1 lco) (is_product b4 lco) (is_product b2 gasoleo) (is_product b5 oca1) (on b0 a1) (occupied ta1_1_oc1b) (on b3 a1) (occupied ta1_1_rat_a) (on b1 a3) (occupied ta3_1_lco) (on b2 a1) (occupied ta1_1_gasoleo) (not_occupied ta1_1_lco) (not_occupied ta1_1_oca1) (not_occupied ta2_1_lco) (not_occupied ta2_1_gasoleo) (not_occupied ta2_1_rat_a) (not_occupied ta2_1_oca1) (not_occupied ta2_1_oc1b) (not_occupied ta3_1_gasoleo) (not_occupied ta3_1_rat_a) (not_occupied ta3_1_oca1) (not_occupied ta3_1_oc1b) (first b4 s12) (last b4 s12) (first b5 s13) (last b5 s13) (unitary s12) (unitary s13))
+ (:goal (and (on b2 a3) (on b5 a2) (normal s12) (normal s13)))
+)
diff --git a/planning/problems/upf/ipc2006-rovers-propositional-strips/domain.pddl b/planning/problems/upf/ipc2006-rovers-propositional-strips/domain.pddl
new file mode 100644
index 00000000..eec84a86
--- /dev/null
+++ b/planning/problems/upf/ipc2006-rovers-propositional-strips/domain.pddl
@@ -0,0 +1,256 @@
+(define (domain grounded_strips_roverprob1234-domain)
+ (:requirements :strips)
+ (:predicates (at_rover0_waypoint1) (at_rover0_waypoint0) (at_rover0_waypoint2) (full_rover0store) (have_soil_analysis_rover0_waypoint0) (have_soil_analysis_rover0_waypoint2) (have_soil_analysis_rover0_waypoint3) (have_rock_analysis_rover0_waypoint1) (have_rock_analysis_rover0_waypoint2) (have_rock_analysis_rover0_waypoint3) (calibrated_camera0_rover0) (have_image_rover0_objective1_high_res) (have_image_rover0_objective1_colour) (have_image_rover0_objective0_high_res) (have_image_rover0_objective0_colour) (communicated_soil_data_waypoint0) (communicated_soil_data_waypoint2) (communicated_soil_data_waypoint3) (communicated_rock_data_waypoint1) (communicated_rock_data_waypoint2) (communicated_rock_data_waypoint3) (communicated_image_data_objective0_colour) (communicated_image_data_objective0_high_res) (communicated_image_data_objective1_colour) (communicated_image_data_objective1_high_res) (available_rover0) (channel_free_general) (empty_rover0store) (at_rock_sample_waypoint3) (at_rock_sample_waypoint2) (at_rock_sample_waypoint1) (at_soil_sample_waypoint3) (at_soil_sample_waypoint2) (at_soil_sample_waypoint0) (at_rover0_waypoint3))
+ (:action navigate_rover0_waypoint0_waypoint3
+  :parameters ()
+  :precondition (and (at_rover0_waypoint0) (available_rover0))
+  :effect (and (at_rover0_waypoint3) (not (at_rover0_waypoint0))))
+ (:action navigate_rover0_waypoint1_waypoint3
+  :parameters ()
+  :precondition (and (at_rover0_waypoint1) (available_rover0))
+  :effect (and (at_rover0_waypoint3) (not (at_rover0_waypoint1))))
+ (:action communicate_image_data_rover0_general_objective1_high_res_waypoint1_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective1_high_res) (at_rover0_waypoint1))
+  :effect (and (channel_free_general) (communicated_image_data_objective1_high_res) (available_rover0)))
+ (:action communicate_image_data_rover0_general_objective1_colour_waypoint1_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective1_colour) (at_rover0_waypoint1))
+  :effect (and (channel_free_general) (communicated_image_data_objective1_colour) (available_rover0)))
+ (:action communicate_image_data_rover0_general_objective0_high_res_waypoint1_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective0_high_res) (at_rover0_waypoint1))
+  :effect (and (channel_free_general) (communicated_image_data_objective0_high_res) (available_rover0)))
+ (:action communicate_image_data_rover0_general_objective0_colour_waypoint1_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective0_colour) (at_rover0_waypoint1))
+  :effect (and (channel_free_general) (communicated_image_data_objective0_colour) (available_rover0)))
+ (:action communicate_image_data_rover0_general_objective1_high_res_waypoint2_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective1_high_res) (at_rover0_waypoint2))
+  :effect (and (channel_free_general) (communicated_image_data_objective1_high_res) (available_rover0)))
+ (:action communicate_image_data_rover0_general_objective1_colour_waypoint2_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective1_colour) (at_rover0_waypoint2))
+  :effect (and (channel_free_general) (communicated_image_data_objective1_colour) (available_rover0)))
+ (:action communicate_image_data_rover0_general_objective0_high_res_waypoint2_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective0_high_res) (at_rover0_waypoint2))
+  :effect (and (channel_free_general) (communicated_image_data_objective0_high_res) (available_rover0)))
+ (:action communicate_image_data_rover0_general_objective0_colour_waypoint2_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective0_colour) (at_rover0_waypoint2))
+  :effect (and (channel_free_general) (communicated_image_data_objective0_colour) (available_rover0)))
+ (:action communicate_image_data_rover0_general_objective1_high_res_waypoint3_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective1_high_res) (at_rover0_waypoint3))
+  :effect (and (channel_free_general) (communicated_image_data_objective1_high_res) (available_rover0)))
+ (:action communicate_image_data_rover0_general_objective1_colour_waypoint3_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective1_colour) (at_rover0_waypoint3))
+  :effect (and (channel_free_general) (communicated_image_data_objective1_colour) (available_rover0)))
+ (:action communicate_image_data_rover0_general_objective0_high_res_waypoint3_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective0_high_res) (at_rover0_waypoint3))
+  :effect (and (channel_free_general) (communicated_image_data_objective0_high_res) (available_rover0)))
+ (:action communicate_image_data_rover0_general_objective0_colour_waypoint3_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_image_rover0_objective0_colour) (at_rover0_waypoint3))
+  :effect (and (channel_free_general) (communicated_image_data_objective0_colour) (available_rover0)))
+ (:action communicate_rock_data_rover0_general_waypoint3_waypoint1_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_rock_analysis_rover0_waypoint3) (at_rover0_waypoint1))
+  :effect (and (channel_free_general) (communicated_rock_data_waypoint3) (available_rover0)))
+ (:action communicate_rock_data_rover0_general_waypoint2_waypoint1_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_rock_analysis_rover0_waypoint2) (at_rover0_waypoint1))
+  :effect (and (channel_free_general) (communicated_rock_data_waypoint2) (available_rover0)))
+ (:action communicate_rock_data_rover0_general_waypoint1_waypoint1_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_rock_analysis_rover0_waypoint1) (at_rover0_waypoint1))
+  :effect (and (channel_free_general) (communicated_rock_data_waypoint1) (available_rover0)))
+ (:action communicate_rock_data_rover0_general_waypoint3_waypoint2_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_rock_analysis_rover0_waypoint3) (at_rover0_waypoint2))
+  :effect (and (channel_free_general) (communicated_rock_data_waypoint3) (available_rover0)))
+ (:action communicate_rock_data_rover0_general_waypoint2_waypoint2_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_rock_analysis_rover0_waypoint2) (at_rover0_waypoint2))
+  :effect (and (channel_free_general) (communicated_rock_data_waypoint2) (available_rover0)))
+ (:action communicate_rock_data_rover0_general_waypoint1_waypoint2_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_rock_analysis_rover0_waypoint1) (at_rover0_waypoint2))
+  :effect (and (channel_free_general) (communicated_rock_data_waypoint1) (available_rover0)))
+ (:action communicate_rock_data_rover0_general_waypoint3_waypoint3_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_rock_analysis_rover0_waypoint3) (at_rover0_waypoint3))
+  :effect (and (channel_free_general) (communicated_rock_data_waypoint3) (available_rover0)))
+ (:action communicate_rock_data_rover0_general_waypoint2_waypoint3_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_rock_analysis_rover0_waypoint2) (at_rover0_waypoint3))
+  :effect (and (channel_free_general) (communicated_rock_data_waypoint2) (available_rover0)))
+ (:action communicate_rock_data_rover0_general_waypoint1_waypoint3_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_rock_analysis_rover0_waypoint1) (at_rover0_waypoint3))
+  :effect (and (channel_free_general) (communicated_rock_data_waypoint1) (available_rover0)))
+ (:action communicate_soil_data_rover0_general_waypoint3_waypoint1_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_soil_analysis_rover0_waypoint3) (at_rover0_waypoint1))
+  :effect (and (channel_free_general) (communicated_soil_data_waypoint3) (available_rover0)))
+ (:action communicate_soil_data_rover0_general_waypoint2_waypoint1_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_soil_analysis_rover0_waypoint2) (at_rover0_waypoint1))
+  :effect (and (channel_free_general) (communicated_soil_data_waypoint2) (available_rover0)))
+ (:action communicate_soil_data_rover0_general_waypoint0_waypoint1_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_soil_analysis_rover0_waypoint0) (at_rover0_waypoint1))
+  :effect (and (channel_free_general) (communicated_soil_data_waypoint0) (available_rover0)))
+ (:action communicate_soil_data_rover0_general_waypoint3_waypoint2_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_soil_analysis_rover0_waypoint3) (at_rover0_waypoint2))
+  :effect (and (channel_free_general) (communicated_soil_data_waypoint3) (available_rover0)))
+ (:action communicate_soil_data_rover0_general_waypoint2_waypoint2_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_soil_analysis_rover0_waypoint2) (at_rover0_waypoint2))
+  :effect (and (channel_free_general) (communicated_soil_data_waypoint2) (available_rover0)))
+ (:action communicate_soil_data_rover0_general_waypoint0_waypoint2_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_soil_analysis_rover0_waypoint0) (at_rover0_waypoint2))
+  :effect (and (channel_free_general) (communicated_soil_data_waypoint0) (available_rover0)))
+ (:action communicate_soil_data_rover0_general_waypoint3_waypoint3_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_soil_analysis_rover0_waypoint3) (at_rover0_waypoint3))
+  :effect (and (channel_free_general) (communicated_soil_data_waypoint3) (available_rover0)))
+ (:action communicate_soil_data_rover0_general_waypoint2_waypoint3_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_soil_analysis_rover0_waypoint2) (at_rover0_waypoint3))
+  :effect (and (channel_free_general) (communicated_soil_data_waypoint2) (available_rover0)))
+ (:action communicate_soil_data_rover0_general_waypoint0_waypoint3_waypoint0
+  :parameters ()
+  :precondition (and (channel_free_general) (available_rover0) (have_soil_analysis_rover0_waypoint0) (at_rover0_waypoint3))
+  :effect (and (channel_free_general) (communicated_soil_data_waypoint0) (available_rover0)))
+ (:action take_image_rover0_waypoint0_objective0_camera0_colour
+  :parameters ()
+  :precondition (and (at_rover0_waypoint0) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective0_colour) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint0_objective0_camera0_high_res
+  :parameters ()
+  :precondition (and (at_rover0_waypoint0) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective0_high_res) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint1_objective0_camera0_colour
+  :parameters ()
+  :precondition (and (at_rover0_waypoint1) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective0_colour) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint1_objective0_camera0_high_res
+  :parameters ()
+  :precondition (and (at_rover0_waypoint1) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective0_high_res) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint2_objective0_camera0_colour
+  :parameters ()
+  :precondition (and (at_rover0_waypoint2) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective0_colour) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint2_objective0_camera0_high_res
+  :parameters ()
+  :precondition (and (at_rover0_waypoint2) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective0_high_res) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint3_objective0_camera0_colour
+  :parameters ()
+  :precondition (and (at_rover0_waypoint3) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective0_colour) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint3_objective0_camera0_high_res
+  :parameters ()
+  :precondition (and (at_rover0_waypoint3) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective0_high_res) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint0_objective1_camera0_colour
+  :parameters ()
+  :precondition (and (at_rover0_waypoint0) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective1_colour) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint0_objective1_camera0_high_res
+  :parameters ()
+  :precondition (and (at_rover0_waypoint0) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective1_high_res) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint1_objective1_camera0_colour
+  :parameters ()
+  :precondition (and (at_rover0_waypoint1) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective1_colour) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint1_objective1_camera0_high_res
+  :parameters ()
+  :precondition (and (at_rover0_waypoint1) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective1_high_res) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint2_objective1_camera0_colour
+  :parameters ()
+  :precondition (and (at_rover0_waypoint2) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective1_colour) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint2_objective1_camera0_high_res
+  :parameters ()
+  :precondition (and (at_rover0_waypoint2) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective1_high_res) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint3_objective1_camera0_colour
+  :parameters ()
+  :precondition (and (at_rover0_waypoint3) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective1_colour) (not (calibrated_camera0_rover0))))
+ (:action take_image_rover0_waypoint3_objective1_camera0_high_res
+  :parameters ()
+  :precondition (and (at_rover0_waypoint3) (calibrated_camera0_rover0))
+  :effect (and (have_image_rover0_objective1_high_res) (not (calibrated_camera0_rover0))))
+ (:action calibrate_rover0_camera0_objective1_waypoint0
+  :parameters ()
+  :precondition (and (at_rover0_waypoint0))
+  :effect (and (calibrated_camera0_rover0)))
+ (:action calibrate_rover0_camera0_objective1_waypoint1
+  :parameters ()
+  :precondition (and (at_rover0_waypoint1))
+  :effect (and (calibrated_camera0_rover0)))
+ (:action calibrate_rover0_camera0_objective1_waypoint2
+  :parameters ()
+  :precondition (and (at_rover0_waypoint2))
+  :effect (and (calibrated_camera0_rover0)))
+ (:action calibrate_rover0_camera0_objective1_waypoint3
+  :parameters ()
+  :precondition (and (at_rover0_waypoint3))
+  :effect (and (calibrated_camera0_rover0)))
+ (:action drop_rover0_rover0store
+  :parameters ()
+  :precondition (and (full_rover0store))
+  :effect (and (empty_rover0store) (not (full_rover0store))))
+ (:action sample_rock_rover0_rover0store_waypoint3
+  :parameters ()
+  :precondition (and (empty_rover0store) (at_rock_sample_waypoint3) (at_rover0_waypoint3))
+  :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (not (empty_rover0store)) (not (at_rock_sample_waypoint3))))
+ (:action sample_rock_rover0_rover0store_waypoint2
+  :parameters ()
+  :precondition (and (empty_rover0store) (at_rock_sample_waypoint2) (at_rover0_waypoint2))
+  :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint2) (not (empty_rover0store)) (not (at_rock_sample_waypoint2))))
+ (:action sample_rock_rover0_rover0store_waypoint1
+  :parameters ()
+  :precondition (and (empty_rover0store) (at_rock_sample_waypoint1) (at_rover0_waypoint1))
+  :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint1) (not (empty_rover0store)) (not (at_rock_sample_waypoint1))))
+ (:action sample_soil_rover0_rover0store_waypoint3
+  :parameters ()
+  :precondition (and (empty_rover0store) (at_soil_sample_waypoint3) (at_rover0_waypoint3))
+  :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint3) (not (empty_rover0store)) (not (at_soil_sample_waypoint3))))
+ (:action sample_soil_rover0_rover0store_waypoint2
+  :parameters ()
+  :precondition (and (empty_rover0store) (at_soil_sample_waypoint2) (at_rover0_waypoint2))
+  :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint2) (not (empty_rover0store)) (not (at_soil_sample_waypoint2))))
+ (:action sample_soil_rover0_rover0store_waypoint0
+  :parameters ()
+  :precondition (and (empty_rover0store) (at_soil_sample_waypoint0) (at_rover0_waypoint0))
+  :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint0) (not (empty_rover0store)) (not (at_soil_sample_waypoint0))))
+ (:action navigate_rover0_waypoint2_waypoint1
+  :parameters ()
+  :precondition (and (at_rover0_waypoint2) (available_rover0))
+  :effect (and (at_rover0_waypoint1) (not (at_rover0_waypoint2))))
+ (:action navigate_rover0_waypoint1_waypoint2
+  :parameters ()
+  :precondition (and (at_rover0_waypoint1) (available_rover0))
+  :effect (and (at_rover0_waypoint2) (not (at_rover0_waypoint1))))
+ (:action navigate_rover0_waypoint3_waypoint0
+  :parameters ()
+  :precondition (and (at_rover0_waypoint3) (available_rover0))
+  :effect (and (at_rover0_waypoint0) (not (at_rover0_waypoint3))))
+ (:action navigate_rover0_waypoint3_waypoint1
+  :parameters ()
+  :precondition (and (at_rover0_waypoint3) (available_rover0))
+  :effect (and (at_rover0_waypoint1) (not (at_rover0_waypoint3))))
+)
diff --git a/planning/problems/upf/ipc2006-rovers-propositional-strips/max_depth.txt b/planning/problems/upf/ipc2006-rovers-propositional-strips/max_depth.txt
new file mode 100644
index 00000000..56a6051c
--- /dev/null
+++ b/planning/problems/upf/ipc2006-rovers-propositional-strips/max_depth.txt
@@ -0,0 +1 @@
+1
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2006-rovers-propositional-strips/problem.pddl b/planning/problems/upf/ipc2006-rovers-propositional-strips/problem.pddl
new file mode 100644
index 00000000..8566427b
--- /dev/null
+++ b/planning/problems/upf/ipc2006-rovers-propositional-strips/problem.pddl
@@ -0,0 +1,5 @@
+(define (problem grounded_strips_roverprob1234-problem)
+ (:domain grounded_strips_roverprob1234-domain)
+ (:init (empty_rover0store) (available_rover0) (at_rover0_waypoint3) (channel_free_general) (at_rock_sample_waypoint3) (at_soil_sample_waypoint3) (at_rock_sample_waypoint2) (at_soil_sample_waypoint2) (at_rock_sample_waypoint1) (at_soil_sample_waypoint0))
+ (:goal (and (communicated_image_data_objective1_high_res) (communicated_rock_data_waypoint3) (communicated_soil_data_waypoint2)))
+)
diff --git a/planning/problems/upf/ipc2006-tpp-propositional/domain.pddl b/planning/problems/upf/ipc2006-tpp-propositional/domain.pddl
new file mode 100644
index 00000000..c43284d9
--- /dev/null
+++ b/planning/problems/upf/ipc2006-tpp-propositional/domain.pddl
@@ -0,0 +1,25 @@
+(define (domain tpp-domain)
+ (:requirements :strips :typing)
+ (:types
+    place locatable level - object
+    truck goods - locatable
+    depot market - place
+ )
+ (:predicates (loaded ?g - goods ?t - truck ?l - level) (ready_to_load ?g - goods ?m - market ?l - level) (stored ?g - goods ?l - level) (on_sale ?g - goods ?m - market ?l - level) (next ?l1 - level ?l2 - level) (at_ ?t - truck ?p - place) (connected ?p1 - place ?p2 - place))
+ (:action drive
+  :parameters ( ?t - truck ?from - place ?to - place)
+  :precondition (and (at_ ?t ?from) (connected ?from ?to))
+  :effect (and (not (at_ ?t ?from)) (at_ ?t ?to)))
+ (:action load
+  :parameters ( ?g - goods ?t - truck ?m - market ?l1 - level ?l2 - level ?l3 - level ?l4 - level)
+  :precondition (and (at_ ?t ?m) (loaded ?g ?t ?l3) (ready_to_load ?g ?m ?l2) (next ?l2 ?l1) (next ?l4 ?l3))
+  :effect (and (loaded ?g ?t ?l4) (not (loaded ?g ?t ?l3)) (ready_to_load ?g ?m ?l1) (not (ready_to_load ?g ?m ?l2))))
+ (:action unload
+  :parameters ( ?g - goods ?t - truck ?d - depot ?l1 - level ?l2 - level ?l3 - level ?l4 - level)
+  :precondition (and (at_ ?t ?d) (loaded ?g ?t ?l2) (stored ?g ?l3) (next ?l2 ?l1) (next ?l4 ?l3))
+  :effect (and (loaded ?g ?t ?l1) (not (loaded ?g ?t ?l2)) (stored ?g ?l4) (not (stored ?g ?l3))))
+ (:action buy
+  :parameters ( ?t - truck ?g - goods ?m - market ?l1 - level ?l2 - level ?l3 - level ?l4 - level)
+  :precondition (and (at_ ?t ?m) (on_sale ?g ?m ?l2) (ready_to_load ?g ?m ?l3) (next ?l2 ?l1) (next ?l4 ?l3))
+  :effect (and (on_sale ?g ?m ?l1) (not (on_sale ?g ?m ?l2)) (ready_to_load ?g ?m ?l4) (not (ready_to_load ?g ?m ?l3))))
+)
diff --git a/planning/problems/upf/ipc2006-tpp-propositional/max_depth.txt b/planning/problems/upf/ipc2006-tpp-propositional/max_depth.txt
new file mode 100644
index 00000000..d8263ee9
--- /dev/null
+++ b/planning/problems/upf/ipc2006-tpp-propositional/max_depth.txt
@@ -0,0 +1 @@
+2
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2006-tpp-propositional/problem.pddl b/planning/problems/upf/ipc2006-tpp-propositional/problem.pddl
new file mode 100644
index 00000000..86a52d8f
--- /dev/null
+++ b/planning/problems/upf/ipc2006-tpp-propositional/problem.pddl
@@ -0,0 +1,12 @@
+(define (problem tpp-problem)
+ (:domain tpp-domain)
+ (:objects
+   level0 level1 - level
+   depot1 - depot
+   market1 - market
+   truck1 - truck
+   goods1 - goods
+ )
+ (:init (next level1 level0) (ready_to_load goods1 market1 level0) (stored goods1 level0) (loaded goods1 truck1 level0) (connected depot1 market1) (connected market1 depot1) (on_sale goods1 market1 level1) (at_ truck1 depot1))
+ (:goal (and (stored goods1 level1)))
+)
diff --git a/planning/problems/upf/ipc2008-openstacks-temporal-satisficing-strips/domain.pddl b/planning/problems/upf/ipc2008-openstacks-temporal-satisficing-strips/domain.pddl
new file mode 100644
index 00000000..5864b088
--- /dev/null
+++ b/planning/problems/upf/ipc2008-openstacks-temporal-satisficing-strips/domain.pddl
@@ -0,0 +1,64 @@
+(define (domain os_time_p5_1-domain)
+ (:requirements :strips :typing :durative-actions)
+ (:types order product count)
+ (:constants
+   p3 p4 p1 p2 p5 - product
+   o2 o1 o4 o3 o5 - order
+ )
+ (:predicates (includes ?o - order ?p - product) (waiting ?o - order) (started ?o - order) (shipped ?o - order) (made ?p - product) (not_made ?p - product) (stacks_avail ?s - count) (next_count ?s - count ?ns - count))
+ (:durative-action start_order
+  :parameters ( ?o - order ?avail - count ?new_avail - count)
+  :duration (= ?duration 1)
+  :condition (and (at start (waiting ?o))(at start (stacks_avail ?avail))(at start (next_count ?new_avail ?avail)))
+  :effect (and (at start (not (waiting ?o))) (at start (not (stacks_avail ?avail))) (at end (started ?o)) (at end (stacks_avail ?new_avail))))
+ (:durative-action make_product_p1
+  :parameters ()
+  :duration (= ?duration 40)
+  :condition (and (at start (not_made p1))(at start (started o2)))
+  :effect (and (at start (not (not_made p1))) (at end (made p1))))
+ (:durative-action make_product_p2
+  :parameters ()
+  :duration (= ?duration 50)
+  :condition (and (at start (not_made p2))(at start (started o1))(at start (started o2)))
+  :effect (and (at start (not (not_made p2))) (at end (made p2))))
+ (:durative-action make_product_p3
+  :parameters ()
+  :duration (= ?duration 80)
+  :condition (and (at start (not_made p3))(at start (started o3))(at start (started o4)))
+  :effect (and (at start (not (not_made p3))) (at end (made p3))))
+ (:durative-action make_product_p4
+  :parameters ()
+  :duration (= ?duration 40)
+  :condition (and (at start (not_made p4))(at start (started o4)))
+  :effect (and (at start (not (not_made p4))) (at end (made p4))))
+ (:durative-action make_product_p5
+  :parameters ()
+  :duration (= ?duration 10)
+  :condition (and (at start (not_made p5))(at start (started o5)))
+  :effect (and (at start (not (not_made p5))) (at end (made p5))))
+ (:durative-action ship_order_o1
+  :parameters ( ?avail - count ?new_avail - count)
+  :duration (= ?duration 1)
+  :condition (and (at start (started o1))(at start (made p2))(at start (stacks_avail ?avail))(at start (next_count ?avail ?new_avail)))
+  :effect (and (at start (not (started o1))) (at start (not (stacks_avail ?avail))) (at end (shipped o1)) (at end (stacks_avail ?new_avail))))
+ (:durative-action ship_order_o2
+  :parameters ( ?avail - count ?new_avail - count)
+  :duration (= ?duration 1)
+  :condition (and (at start (started o2))(at start (made p1))(at start (made p2))(at start (stacks_avail ?avail))(at start (next_count ?avail ?new_avail)))
+  :effect (and (at start (not (started o2))) (at start (not (stacks_avail ?avail))) (at end (shipped o2)) (at end (stacks_avail ?new_avail))))
+ (:durative-action ship_order_o3
+  :parameters ( ?avail - count ?new_avail - count)
+  :duration (= ?duration 1)
+  :condition (and (at start (started o3))(at start (made p3))(at start (stacks_avail ?avail))(at start (next_count ?avail ?new_avail)))
+  :effect (and (at start (not (started o3))) (at start (not (stacks_avail ?avail))) (at end (shipped o3)) (at end (stacks_avail ?new_avail))))
+ (:durative-action ship_order_o4
+  :parameters ( ?avail - count ?new_avail - count)
+  :duration (= ?duration 1)
+  :condition (and (at start (started o4))(at start (made p3))(at start (made p4))(at start (stacks_avail ?avail))(at start (next_count ?avail ?new_avail)))
+  :effect (and (at start (not (started o4))) (at start (not (stacks_avail ?avail))) (at end (shipped o4)) (at end (stacks_avail ?new_avail))))
+ (:durative-action ship_order_o5
+  :parameters ( ?avail - count ?new_avail - count)
+  :duration (= ?duration 1)
+  :condition (and (at start (started o5))(at start (made p5))(at start (stacks_avail ?avail))(at start (next_count ?avail ?new_avail)))
+  :effect (and (at start (not (started o5))) (at start (not (stacks_avail ?avail))) (at end (shipped o5)) (at end (stacks_avail ?new_avail))))
+)
diff --git a/planning/problems/upf/ipc2008-openstacks-temporal-satisficing-strips/max_depth.txt b/planning/problems/upf/ipc2008-openstacks-temporal-satisficing-strips/max_depth.txt
new file mode 100644
index 00000000..7813681f
--- /dev/null
+++ b/planning/problems/upf/ipc2008-openstacks-temporal-satisficing-strips/max_depth.txt
@@ -0,0 +1 @@
+5
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2008-openstacks-temporal-satisficing-strips/problem.pddl b/planning/problems/upf/ipc2008-openstacks-temporal-satisficing-strips/problem.pddl
new file mode 100644
index 00000000..9e708b2c
--- /dev/null
+++ b/planning/problems/upf/ipc2008-openstacks-temporal-satisficing-strips/problem.pddl
@@ -0,0 +1,9 @@
+(define (problem os_time_p5_1-problem)
+ (:domain os_time_p5_1-domain)
+ (:objects
+   n0 n1 n2 n3 n4 - count
+ )
+ (:init (next_count n0 n1) (next_count n1 n2) (next_count n2 n3) (next_count n3 n4) (stacks_avail n4) (waiting o1) (includes o1 p2) (waiting o2) (includes o2 p1) (includes o2 p2) (waiting o3) (includes o3 p3) (waiting o4) (includes o4 p3) (includes o4 p4) (waiting o5) (includes o5 p5) (not_made p1) (not_made p2) (not_made p3) (not_made p4) (not_made p5))
+ (:goal (and (shipped o1) (shipped o2) (shipped o3) (shipped o4) (shipped o5)))
+ (:metric minimize (total-time))
+)
diff --git a/planning/problems/upf/ipc2011-match-cellar-temporal-satisficing/domain.pddl b/planning/problems/upf/ipc2011-match-cellar-temporal-satisficing/domain.pddl
new file mode 100644
index 00000000..e2de2b1b
--- /dev/null
+++ b/planning/problems/upf/ipc2011-match-cellar-temporal-satisficing/domain.pddl
@@ -0,0 +1,15 @@
+(define (domain pfile0-domain)
+ (:requirements :strips :typing :durative-actions)
+ (:types match fuse)
+ (:predicates (handfree) (unused ?match - match) (mended ?fuse - fuse) (light ?match - match))
+ (:durative-action light_match
+  :parameters ( ?match - match)
+  :duration (= ?duration 5)
+  :condition (and (at start (unused ?match)))
+  :effect (and (at start (not (unused ?match))) (at start (light ?match)) (at end (not (light ?match)))))
+ (:durative-action mend_fuse
+  :parameters ( ?fuse - fuse ?match - match)
+  :duration (= ?duration 2)
+  :condition (and (at start (handfree))(over all (light ?match)))
+  :effect (and (at start (not (handfree))) (at end (mended ?fuse)) (at end (handfree))))
+)
diff --git a/planning/problems/upf/ipc2011-match-cellar-temporal-satisficing/max_depth.txt b/planning/problems/upf/ipc2011-match-cellar-temporal-satisficing/max_depth.txt
new file mode 100644
index 00000000..62f94575
--- /dev/null
+++ b/planning/problems/upf/ipc2011-match-cellar-temporal-satisficing/max_depth.txt
@@ -0,0 +1 @@
+6
\ No newline at end of file
diff --git a/planning/problems/upf/ipc2011-match-cellar-temporal-satisficing/problem.pddl b/planning/problems/upf/ipc2011-match-cellar-temporal-satisficing/problem.pddl
new file mode 100644
index 00000000..4b048d16
--- /dev/null
+++ b/planning/problems/upf/ipc2011-match-cellar-temporal-satisficing/problem.pddl
@@ -0,0 +1,10 @@
+(define (problem pfile0-problem)
+ (:domain pfile0-domain)
+ (:objects
+   match0 match1 match2 - match
+   fuse0 fuse1 fuse2 fuse3 fuse4 fuse5 - fuse
+ )
+ (:init (handfree) (unused match0) (unused match1) (unused match2))
+ (:goal (and (mended fuse0) (mended fuse1) (mended fuse2) (mended fuse3) (mended fuse4) (mended fuse5)))
+ (:metric minimize (total-time))
+)