;;cpu time (non-gc) 228233 msec user, 933 msec system
;;cpu time (gc)     24683 msec user, 67 msec system
;;cpu time (total)  252916 msec user, 1000 msec system
;;real time  455874 msec
;;space allocation:
;; 15657029 cons cells, 1049 symbols, 100682160 other bytes,

(setq *SAVED-RULES* (quote 
((|sr48|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (ARM-EMPTY))
        (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-1>))
        (KNOWN <NODE>
               (AND (IS-KEY <V40> <V46>) (DR-TO-RM <V40> <V45>) (DR-TO-RM <V40> <G-1>) (IS-DOOR <V40>)
                    (CONNECTS <V40> <G-1> <V39>) (~ (DR-OPEN <V40>)) (~ (UNLOCKED <V40>))
                    (~ (HOLDING <V46>))))))
  (RHS (PREFER GOAL (INROOM ROBOT <G-1>) (ARM-EMPTY))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V298>)) (STATIC T) (WAS-LEARNED STATIC) (PRIORITY 0)
  ((PREFER GOAL (INROOM ROBOT <G-1>) (ARM-EMPTY))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (ARM-EMPTY))
        (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-1>))
        (KNOWN <NODE>
               (AND (IS-KEY <V40> <V46>) (DR-TO-RM <V40> <V45>) (DR-TO-RM <V40> <G-1>) (IS-DOOR <V40>)
                    (CONNECTS <V40> <G-1> <V39>) (~ (DR-OPEN <V40>)) (~ (UNLOCKED <V40>))
                    (~ (HOLDING <V46>))))))
  (RULE-TYPE GOAL-PREF))
 (|sr47|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM <V46> <G-97>))
        (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-1>))
        (KNOWN <NODE>
               (AND (IS-KEY <V40> <V46>) (DR-TO-RM <V40> <V45>) (DR-TO-RM <V40> <G-1>) (IS-DOOR <V40>)
                    (CONNECTS <V40> <G-1> <V39>) (~ (DR-OPEN <V40>)) (~ (UNLOCKED <V40>))
                    (NOT-EQUAL <V46> ROBOT)
                    (~
                     (EXISTS (<V217>) (DR-TO-RM <V40> <V217>)
                      (EXISTS (<V218>) (IS-KEY <V40> <V218>)
                       (AND (CONNECTS <V40> <G-1> <V39>) (IS-DOOR <V40>) (DR-TO-RM <V40> <G-1>)
                            (OR (NOT-EQUAL <V45> <V217>) (NOT-EQUAL <V46> <V218>))))))))))
  (RHS (PREFER GOAL (INROOM ROBOT <G-1>) (INROOM <V46> <G-97>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V299>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (INROOM ROBOT <G-1>) (INROOM <V46> <G-97>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM <V46> <G-97>))
        (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-1>))
        (KNOWN <NODE>
               (AND (IS-KEY <V40> <V46>) (DR-TO-RM <V40> <V45>) (DR-TO-RM <V40> <G-1>) (IS-DOOR <V40>)
                    (CONNECTS <V40> <G-1> <V39>) (~ (DR-OPEN <V40>)) (~ (UNLOCKED <V40>))
                    (NOT-EQUAL <V46> ROBOT)
                    (~
                     (EXISTS (<V217>) (DR-TO-RM <V40> <V217>)
                      (EXISTS (<V218>) (IS-KEY <V40> <V218>)
                       (AND (CONNECTS <V40> <G-1> <V39>) (IS-DOOR <V40>) (DR-TO-RM <V40> <G-1>)
                            (OR (NOT-EQUAL <V45> <V217>) (NOT-EQUAL <V46> <V218>))))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr46|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <V46> <G-95>))
        (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-1>))
        (KNOWN <NODE>
               (AND (CARRIABLE <V46>) (IS-KEY <V40> <V46>) (DR-TO-RM <V40> <V45>) (DR-TO-RM <V40> <G-1>)
                    (IS-DOOR <V40>) (CONNECTS <V40> <G-1> <V39>) (~ (DR-OPEN <V40>))
                    (~ (UNLOCKED <V40>)) (~ (HOLDING <V46>))
                    (~
                     (EXISTS (<V214>) (CARRIABLE <V214>)
                      (AND (CONNECTS <V40> <G-1> <V39>) (IS-DOOR <V40>) (DR-TO-RM <V40> <G-1>)
                           (DR-TO-RM <V40> <V45>) (IS-KEY <V40> <V214>) (NOT-EQUAL <V46> <V214>))))))))
  (RHS (PREFER GOAL (INROOM ROBOT <G-1>) (NEXT-TO <V46> <G-95>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V300>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (INROOM ROBOT <G-1>) (NEXT-TO <V46> <G-95>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <V46> <G-95>))
        (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-1>))
        (KNOWN <NODE>
               (AND (CARRIABLE <V46>) (IS-KEY <V40> <V46>) (DR-TO-RM <V40> <V45>) (DR-TO-RM <V40> <G-1>)
                    (IS-DOOR <V40>) (CONNECTS <V40> <G-1> <V39>) (~ (DR-OPEN <V40>))
                    (~ (UNLOCKED <V40>)) (~ (HOLDING <V46>))
                    (~
                     (EXISTS (<V214>) (CARRIABLE <V214>)
                      (AND (CONNECTS <V40> <G-1> <V39>) (IS-DOOR <V40>) (DR-TO-RM <V40> <G-1>)
                           (DR-TO-RM <V40> <V45>) (IS-KEY <V40> <V214>) (NOT-EQUAL <V46> <V214>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr45|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO ROBOT <G-95>))
        (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-1>))))
  (RHS (PREFER GOAL (INROOM ROBOT <G-1>) (NEXT-TO ROBOT <G-95>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V301>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (INROOM ROBOT <G-1>) (NEXT-TO ROBOT <G-95>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO ROBOT <G-95>))
        (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-1>))))
  (RULE-TYPE GOAL-PREF))
 (|sr44|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (LOCKED <V40>))
        (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-1>))
        (KNOWN <NODE>
               (AND (DR-TO-RM <V40> <G-1>) (IS-DOOR <V40>) (CONNECTS <V40> <G-1> <V39>)
                    (~ (DR-OPEN <V40>))
                    (~
                     (EXISTS (<V204>) (DR-TO-RM <V204> <G-1>)
                      (AND (CONNECTS <V204> <G-1> <V39>) (IS-DOOR <V204>)
                           (NOT-EQUAL <V40> <V204>))))))))
  (RHS (PREFER GOAL (INROOM ROBOT <G-1>) (LOCKED <V40>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V302>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (INROOM ROBOT <G-1>) (LOCKED <V40>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (LOCKED <V40>))
        (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-1>))
        (KNOWN <NODE>
               (AND (DR-TO-RM <V40> <G-1>) (IS-DOOR <V40>) (CONNECTS <V40> <G-1> <V39>)
                    (~ (DR-OPEN <V40>))
                    (~
                     (EXISTS (<V204>) (DR-TO-RM <V204> <G-1>)
                      (AND (CONNECTS <V204> <G-1> <V39>) (IS-DOOR <V204>)
                           (NOT-EQUAL <V40> <V204>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr43|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-89>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-2> <G-3>)) (KNOWN <NODE> (NOT-EQUAL <G-2> ROBOT))))
  (RHS (PREFER GOAL (INROOM <G-2> <G-3>) (INROOM ROBOT <G-89>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V303>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (INROOM <G-2> <G-3>) (INROOM ROBOT <G-89>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-89>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-2> <G-3>)) (KNOWN <NODE> (NOT-EQUAL <G-2> ROBOT))))
  (RULE-TYPE GOAL-PREF))
 (|sr42|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO ROBOT <G-85>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-2> <G-3>))
        (KNOWN <NODE> (AND (NOT-EQUAL <G-2> ROBOT) (NOT-EQUAL <G-85> <G-2>)))))
  (RHS (PREFER GOAL (INROOM <G-2> <G-3>) (NEXT-TO ROBOT <G-85>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V304>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (INROOM <G-2> <G-3>) (NEXT-TO ROBOT <G-85>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO ROBOT <G-85>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-2> <G-3>))
        (KNOWN <NODE> (AND (NOT-EQUAL <G-2> ROBOT) (NOT-EQUAL <G-85> <G-2>)))))
  (RULE-TYPE GOAL-PREF))
 (|sr41|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <G-86> <G-85>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-85> <G-3>))
        (KNOWN <NODE> (AND (NOT-EQUAL <G-85> ROBOT) (~ (HOLDING <G-85>)) (NOT-EQUAL <G-86> ROBOT)))))
  (RHS (PREFER GOAL (INROOM <G-85> <G-3>) (NEXT-TO <G-86> <G-85>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V305>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (INROOM <G-85> <G-3>) (NEXT-TO <G-86> <G-85>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <G-86> <G-85>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-85> <G-3>))
        (KNOWN <NODE> (AND (NOT-EQUAL <G-85> ROBOT) (~ (HOLDING <G-85>)) (NOT-EQUAL <G-86> ROBOT)))))
  (RULE-TYPE GOAL-PREF))
 (|sr40|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <G-86> <G-85>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-86> <G-3>))
        (KNOWN <NODE> (AND (NOT-EQUAL <G-86> ROBOT) (~ (HOLDING <G-86>))))))
  (RHS (PREFER GOAL (INROOM <G-86> <G-3>) (NEXT-TO <G-86> <G-85>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V306>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (INROOM <G-86> <G-3>) (NEXT-TO <G-86> <G-85>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <G-86> <G-85>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-86> <G-3>))
        (KNOWN <NODE> (AND (NOT-EQUAL <G-86> ROBOT) (~ (HOLDING <G-86>))))))
  (RULE-TYPE GOAL-PREF))
 (|sr39|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (DR-CLOSED <V48>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-2> <G-3>))
        (KNOWN <NODE>
               (AND (CONNECTS <V48> <G-3> <V47>) (IS-DOOR <V48>) (DR-TO-RM <V48> <G-3>)
                    (NOT-EQUAL <G-2> ROBOT)
                    (~
                     (EXISTS (<V201>) (CONNECTS <V201> <G-3> <V47>)
                      (AND (DR-TO-RM <V201> <G-3>) (IS-DOOR <V201>) (NOT-EQUAL <V48> <V201>))))))))
  (RHS (PREFER GOAL (INROOM <G-2> <G-3>) (DR-CLOSED <V48>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V307>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (INROOM <G-2> <G-3>) (DR-CLOSED <V48>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (DR-CLOSED <V48>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-2> <G-3>))
        (KNOWN <NODE>
               (AND (CONNECTS <V48> <G-3> <V47>) (IS-DOOR <V48>) (DR-TO-RM <V48> <G-3>)
                    (NOT-EQUAL <G-2> ROBOT)
                    (~
                     (EXISTS (<V201>) (CONNECTS <V201> <G-3> <V47>)
                      (AND (DR-TO-RM <V201> <G-3>) (IS-DOOR <V201>) (NOT-EQUAL <V48> <V201>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr38|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (LOCKED <V48>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-2> <G-3>))
        (KNOWN <NODE>
               (AND (CONNECTS <V48> <G-3> <V47>) (IS-DOOR <V48>) (DR-TO-RM <V48> <G-3>)
                    (NOT-EQUAL <G-2> ROBOT)
                    (~
                     (EXISTS (<V200>) (CONNECTS <V200> <G-3> <V47>)
                      (AND (DR-TO-RM <V200> <G-3>) (IS-DOOR <V200>) (NOT-EQUAL <V48> <V200>))))))))
  (RHS (PREFER GOAL (INROOM <G-2> <G-3>) (LOCKED <V48>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V308>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (INROOM <G-2> <G-3>) (LOCKED <V48>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (LOCKED <V48>))
        (CANDIDATE-GOAL <NODE> (INROOM <G-2> <G-3>))
        (KNOWN <NODE>
               (AND (CONNECTS <V48> <G-3> <V47>) (IS-DOOR <V48>) (DR-TO-RM <V48> <G-3>)
                    (NOT-EQUAL <G-2> ROBOT)
                    (~
                     (EXISTS (<V200>) (CONNECTS <V200> <G-3> <V47>)
                      (AND (DR-TO-RM <V200> <G-3>) (IS-DOOR <V200>) (NOT-EQUAL <V48> <V200>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr37|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (ARM-EMPTY))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-KEY <G-7> <V62>)
                    (OR (AND (~ (UNLOCKED <G-7>)) (~ (INROOM <V62> <V61>)) (~ (HOLDING <V62>)))
                        (AND (~ (UNLOCKED <G-7>)) (~ (HOLDING <V62>))))))))
  (RHS (PREFER GOAL (DR-OPEN <G-7>) (ARM-EMPTY))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V309>)) (STATIC T) (WAS-LEARNED STATIC) (PRIORITY 0)
  ((PREFER GOAL (DR-OPEN <G-7>) (ARM-EMPTY))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (ARM-EMPTY))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-KEY <G-7> <V62>)
                    (OR (AND (~ (UNLOCKED <G-7>)) (~ (INROOM <V62> <V61>)) (~ (HOLDING <V62>)))
                        (AND (~ (UNLOCKED <G-7>)) (~ (HOLDING <V62>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr36|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-59>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V61>) (DR-TO-RM <V66> <V61>) (CONNECTS <V66> <V61> <V65>)
                    (IS-KEY <G-7> <V62>) (DR-TO-RM <G-7> <V61>) (~ (UNLOCKED <G-7>))
                    (~ (INROOM <V62> <V61>)) (NOT-EQUAL <G-59> <V61>)))))
  (RHS (PREFER GOAL (DR-OPEN <G-7>) (INROOM ROBOT <G-59>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V310>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (DR-OPEN <G-7>) (INROOM ROBOT <G-59>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-59>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V61>) (DR-TO-RM <V66> <V61>) (CONNECTS <V66> <V61> <V65>)
                    (IS-KEY <G-7> <V62>) (DR-TO-RM <G-7> <V61>) (~ (UNLOCKED <G-7>))
                    (~ (INROOM <V62> <V61>)) (NOT-EQUAL <G-59> <V61>)))))
  (RULE-TYPE GOAL-PREF))
 (|sr35|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM <V62> <G-57>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V61>) (DR-TO-RM <V66> <V61>) (IS-OBJECT <V62>)
                    (CONNECTS <V66> <V61> <V65>) (IS-KEY <G-7> <V62>) (DR-TO-RM <G-7> <V61>)
                    (~ (UNLOCKED <G-7>)) (~ (INROOM <V62> <V61>)) (NOT-EQUAL <G-57> <V61>)
                    (~
                     (EXISTS (<V181>) (IS-OBJECT <V181>)
                      (AND (DR-TO-RM <G-7> <V61>) (IS-KEY <G-7> <V181>) (CONNECTS <V66> <V61> <V65>)
                           (DR-TO-RM <V66> <V61>) (IS-ROOM <V61>) (NOT-EQUAL <V62> <V181>))))))))
  (RHS (PREFER GOAL (DR-OPEN <G-7>) (INROOM <V62> <G-57>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V311>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (DR-OPEN <G-7>) (INROOM <V62> <G-57>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM <V62> <G-57>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V61>) (DR-TO-RM <V66> <V61>) (IS-OBJECT <V62>)
                    (CONNECTS <V66> <V61> <V65>) (IS-KEY <G-7> <V62>) (DR-TO-RM <G-7> <V61>)
                    (~ (UNLOCKED <G-7>)) (~ (INROOM <V62> <V61>)) (NOT-EQUAL <G-57> <V61>)
                    (~
                     (EXISTS (<V181>) (IS-OBJECT <V181>)
                      (AND (DR-TO-RM <G-7> <V61>) (IS-KEY <G-7> <V181>) (CONNECTS <V66> <V61> <V65>)
                           (DR-TO-RM <V66> <V61>) (IS-ROOM <V61>) (NOT-EQUAL <V62> <V181>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr34|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <G-56> <V62>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (CARRIABLE <V62>) (IS-KEY <G-7> <V62>) (~ (UNLOCKED <G-7>)) (~ (HOLDING <V62>))
                    (~
                     (EXISTS (<V180>) (CARRIABLE <V180>)
                      (AND (IS-KEY <G-7> <V180>) (NOT-EQUAL <V62> <V180>))))))))
  (RHS (PREFER GOAL (DR-OPEN <G-7>) (NEXT-TO <G-56> <V62>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V312>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (DR-OPEN <G-7>) (NEXT-TO <G-56> <V62>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <G-56> <V62>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (CARRIABLE <V62>) (IS-KEY <G-7> <V62>) (~ (UNLOCKED <G-7>)) (~ (HOLDING <V62>))
                    (~
                     (EXISTS (<V180>) (CARRIABLE <V180>)
                      (AND (IS-KEY <G-7> <V180>) (NOT-EQUAL <V62> <V180>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr33|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO ROBOT <G-55>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-KEY <G-7> <V62>) (DR-TO-RM <G-7> <V61>) (~ (UNLOCKED <G-7>))
                    (~ (INROOM <V62> <V61>))))))
  (RHS (PREFER GOAL (DR-OPEN <G-7>) (NEXT-TO ROBOT <G-55>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V313>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (DR-OPEN <G-7>) (NEXT-TO ROBOT <G-55>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO ROBOT <G-55>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-KEY <G-7> <V62>) (DR-TO-RM <G-7> <V61>) (~ (UNLOCKED <G-7>))
                    (~ (INROOM <V62> <V61>))))))
  (RULE-TYPE GOAL-PREF))
 (|sr32|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (DR-CLOSED <V66>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V61>) (DR-TO-RM <V66> <V61>) (IS-DOOR <V66>) (CONNECTS <V66> <V61> <V65>)
                    (IS-KEY <G-7> <V62>) (DR-TO-RM <G-7> <V61>) (~ (UNLOCKED <G-7>))
                    (~ (INROOM <V62> <V61>))
                    (~
                     (EXISTS (<V168>) (DR-TO-RM <V168> <V61>)
                      (AND (DR-TO-RM <G-7> <V61>) (IS-KEY <G-7> <V62>) (CONNECTS <V168> <V61> <V65>)
                           (IS-DOOR <V168>) (IS-ROOM <V61>) (NOT-EQUAL <V66> <V168>))))))))
  (RHS (PREFER GOAL (DR-OPEN <G-7>) (DR-CLOSED <V66>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V314>)) (STATIC T) (WAS-LEARNED STATIC) (PRIORITY 0)
  ((PREFER GOAL (DR-OPEN <G-7>) (DR-CLOSED <V66>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (DR-CLOSED <V66>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V61>) (DR-TO-RM <V66> <V61>) (IS-DOOR <V66>) (CONNECTS <V66> <V61> <V65>)
                    (IS-KEY <G-7> <V62>) (DR-TO-RM <G-7> <V61>) (~ (UNLOCKED <G-7>))
                    (~ (INROOM <V62> <V61>))
                    (~
                     (EXISTS (<V168>) (DR-TO-RM <V168> <V61>)
                      (AND (DR-TO-RM <G-7> <V61>) (IS-KEY <G-7> <V62>) (CONNECTS <V168> <V61> <V65>)
                           (IS-DOOR <V168>) (IS-ROOM <V61>) (NOT-EQUAL <V66> <V168>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr31|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (LOCKED <V66>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V61>) (DR-TO-RM <V66> <V61>) (IS-DOOR <V66>) (CONNECTS <V66> <V61> <V65>)
                    (IS-KEY <G-7> <V62>) (DR-TO-RM <G-7> <V61>) (~ (UNLOCKED <G-7>))
                    (~ (INROOM <V62> <V61>))
                    (~
                     (EXISTS (<V167>) (DR-TO-RM <V167> <V61>)
                      (AND (DR-TO-RM <G-7> <V61>) (IS-KEY <G-7> <V62>) (CONNECTS <V167> <V61> <V65>)
                           (IS-DOOR <V167>) (IS-ROOM <V61>) (NOT-EQUAL <V66> <V167>))))))))
  (RHS (PREFER GOAL (DR-OPEN <G-7>) (LOCKED <V66>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V315>)) (STATIC T) (WAS-LEARNED STATIC) (PRIORITY 0)
  ((PREFER GOAL (DR-OPEN <G-7>) (LOCKED <V66>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (LOCKED <V66>))
        (CANDIDATE-GOAL <NODE> (DR-OPEN <G-7>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V61>) (DR-TO-RM <V66> <V61>) (IS-DOOR <V66>) (CONNECTS <V66> <V61> <V65>)
                    (IS-KEY <G-7> <V62>) (DR-TO-RM <G-7> <V61>) (~ (UNLOCKED <G-7>))
                    (~ (INROOM <V62> <V61>))
                    (~
                     (EXISTS (<V167>) (DR-TO-RM <V167> <V61>)
                      (AND (DR-TO-RM <G-7> <V61>) (IS-KEY <G-7> <V62>) (CONNECTS <V167> <V61> <V65>)
                           (IS-DOOR <V167>) (IS-ROOM <V61>) (NOT-EQUAL <V66> <V167>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr30|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (ARM-EMPTY)) (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE>
               (AND (IS-KEY <G-9> <V70>)
                    (OR (AND (~ (INROOM <V70> <V69>)) (~ (DR-OPEN <V74>)) (~ (UNLOCKED <V74>))
                             (~ (HOLDING <V78>)))
                        (~ (HOLDING <V70>)))))))
  (RHS (PREFER GOAL (LOCKED <G-9>) (ARM-EMPTY))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V316>)) (STATIC T) (WAS-LEARNED STATIC) (PRIORITY 0)
  ((PREFER GOAL (LOCKED <G-9>) (ARM-EMPTY))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (ARM-EMPTY)) (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE>
               (AND (IS-KEY <G-9> <V70>)
                    (OR (AND (~ (INROOM <V70> <V69>)) (~ (DR-OPEN <V74>)) (~ (UNLOCKED <V74>))
                             (~ (HOLDING <V78>)))
                        (~ (HOLDING <V70>)))))))
  (RULE-TYPE GOAL-PREF))
 (|sr29|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-39>))
        (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V69>) (DR-TO-RM <V74> <V69>) (CONNECTS <V74> <V69> <V73>)
                    (IS-KEY <G-9> <V70>) (DR-TO-RM <G-9> <V69>) (~ (INROOM <V70> <V69>))
                    (NOT-EQUAL <G-39> <V69>)))))
  (RHS (PREFER GOAL (LOCKED <G-9>) (INROOM ROBOT <G-39>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V317>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (LOCKED <G-9>) (INROOM ROBOT <G-39>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-39>))
        (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V69>) (DR-TO-RM <V74> <V69>) (CONNECTS <V74> <V69> <V73>)
                    (IS-KEY <G-9> <V70>) (DR-TO-RM <G-9> <V69>) (~ (INROOM <V70> <V69>))
                    (NOT-EQUAL <G-39> <V69>)))))
  (RULE-TYPE GOAL-PREF))
 (|sr28|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM <V70> <G-37>))
        (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V69>) (DR-TO-RM <V74> <V69>) (IS-OBJECT <V70>)
                    (CONNECTS <V74> <V69> <V73>) (IS-KEY <G-9> <V70>) (DR-TO-RM <G-9> <V69>)
                    (~ (INROOM <V70> <V69>)) (NOT-EQUAL <G-37> <V69>)
                    (~
                     (EXISTS (<V147>) (IS-OBJECT <V147>)
                      (AND (DR-TO-RM <G-9> <V69>) (IS-KEY <G-9> <V147>) (CONNECTS <V74> <V69> <V73>)
                           (DR-TO-RM <V74> <V69>) (IS-ROOM <V69>) (NOT-EQUAL <V70> <V147>))))))))
  (RHS (PREFER GOAL (LOCKED <G-9>) (INROOM <V70> <G-37>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V318>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (LOCKED <G-9>) (INROOM <V70> <G-37>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM <V70> <G-37>))
        (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V69>) (DR-TO-RM <V74> <V69>) (IS-OBJECT <V70>)
                    (CONNECTS <V74> <V69> <V73>) (IS-KEY <G-9> <V70>) (DR-TO-RM <G-9> <V69>)
                    (~ (INROOM <V70> <V69>)) (NOT-EQUAL <G-37> <V69>)
                    (~
                     (EXISTS (<V147>) (IS-OBJECT <V147>)
                      (AND (DR-TO-RM <G-9> <V69>) (IS-KEY <G-9> <V147>) (CONNECTS <V74> <V69> <V73>)
                           (DR-TO-RM <V74> <V69>) (IS-ROOM <V69>) (NOT-EQUAL <V70> <V147>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr27|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <G-36> <V70>))
        (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE>
               (AND (CARRIABLE <V70>) (IS-KEY <G-9> <V70>) (~ (HOLDING <V70>))
                    (~
                     (EXISTS (<V142>) (CARRIABLE <V142>)
                      (AND (IS-KEY <G-9> <V142>) (NOT-EQUAL <V70> <V142>))))))))
  (RHS (PREFER GOAL (LOCKED <G-9>) (NEXT-TO <G-36> <V70>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V319>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (LOCKED <G-9>) (NEXT-TO <G-36> <V70>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <G-36> <V70>))
        (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE>
               (AND (CARRIABLE <V70>) (IS-KEY <G-9> <V70>) (~ (HOLDING <V70>))
                    (~
                     (EXISTS (<V142>) (CARRIABLE <V142>)
                      (AND (IS-KEY <G-9> <V142>) (NOT-EQUAL <V70> <V142>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr26|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO ROBOT <G-35>))
        (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE> (AND (IS-KEY <G-9> <V70>) (DR-TO-RM <G-9> <V69>) (~ (INROOM <V70> <V69>))))))
  (RHS (PREFER GOAL (LOCKED <G-9>) (NEXT-TO ROBOT <G-35>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V320>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (LOCKED <G-9>) (NEXT-TO ROBOT <G-35>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO ROBOT <G-35>))
        (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE> (AND (IS-KEY <G-9> <V70>) (DR-TO-RM <G-9> <V69>) (~ (INROOM <V70> <V69>))))))
  (RULE-TYPE GOAL-PREF))
 (|sr25|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (LOCKED <V74>))
        (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V69>) (DR-TO-RM <V74> <V69>) (IS-DOOR <V74>) (CONNECTS <V74> <V69> <V73>)
                    (IS-KEY <G-9> <V70>) (DR-TO-RM <G-9> <V69>) (~ (INROOM <V70> <V69>))
                    (~ (DR-OPEN <V74>))
                    (~
                     (EXISTS (<V120>) (DR-TO-RM <V120> <V69>)
                      (AND (DR-TO-RM <G-9> <V69>) (IS-KEY <G-9> <V70>) (CONNECTS <V120> <V69> <V73>)
                           (IS-DOOR <V120>) (IS-ROOM <V69>) (NOT-EQUAL <V74> <V120>))))))))
  (RHS (PREFER GOAL (LOCKED <G-9>) (LOCKED <V74>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V321>)) (STATIC T) (WAS-LEARNED STATIC) (PRIORITY 0)
  ((PREFER GOAL (LOCKED <G-9>) (LOCKED <V74>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (LOCKED <V74>))
        (CANDIDATE-GOAL <NODE> (LOCKED <G-9>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V69>) (DR-TO-RM <V74> <V69>) (IS-DOOR <V74>) (CONNECTS <V74> <V69> <V73>)
                    (IS-KEY <G-9> <V70>) (DR-TO-RM <G-9> <V69>) (~ (INROOM <V70> <V69>))
                    (~ (DR-OPEN <V74>))
                    (~
                     (EXISTS (<V120>) (DR-TO-RM <V120> <V69>)
                      (AND (DR-TO-RM <G-9> <V69>) (IS-KEY <G-9> <V70>) (CONNECTS <V120> <V69> <V73>)
                           (IS-DOOR <V120>) (IS-ROOM <V69>) (NOT-EQUAL <V74> <V120>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr24|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (ARM-EMPTY))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE> (AND (IS-KEY <G-10> <V82>) (~ (HOLDING <V82>))))))
  (RHS (PREFER GOAL (UNLOCKED <G-10>) (ARM-EMPTY))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V322>)) (STATIC T) (WAS-LEARNED STATIC) (PRIORITY 0)
  ((PREFER GOAL (UNLOCKED <G-10>) (ARM-EMPTY))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (ARM-EMPTY))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE> (AND (IS-KEY <G-10> <V82>) (~ (HOLDING <V82>))))))
  (RULE-TYPE GOAL-PREF))
 (|sr23|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-29>))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V81>) (DR-TO-RM <V86> <V81>) (CONNECTS <V86> <V81> <V85>)
                    (IS-KEY <G-10> <V82>) (DR-TO-RM <G-10> <V81>) (~ (INROOM <V82> <V81>))
                    (NOT-EQUAL <G-29> <V81>)))))
  (RHS (PREFER GOAL (UNLOCKED <G-10>) (INROOM ROBOT <G-29>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V323>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (UNLOCKED <G-10>) (INROOM ROBOT <G-29>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM ROBOT <G-29>))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V81>) (DR-TO-RM <V86> <V81>) (CONNECTS <V86> <V81> <V85>)
                    (IS-KEY <G-10> <V82>) (DR-TO-RM <G-10> <V81>) (~ (INROOM <V82> <V81>))
                    (NOT-EQUAL <G-29> <V81>)))))
  (RULE-TYPE GOAL-PREF))
 (|sr22|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM <V82> <G-27>))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V81>) (DR-TO-RM <V86> <V81>) (IS-OBJECT <V82>)
                    (CONNECTS <V86> <V81> <V85>) (IS-KEY <G-10> <V82>) (DR-TO-RM <G-10> <V81>)
                    (~ (INROOM <V82> <V81>)) (NOT-EQUAL <G-27> <V81>)
                    (~
                     (EXISTS (<V103>) (IS-OBJECT <V103>)
                      (AND (DR-TO-RM <G-10> <V81>) (IS-KEY <G-10> <V103>) (CONNECTS <V86> <V81> <V85>)
                           (DR-TO-RM <V86> <V81>) (IS-ROOM <V81>) (NOT-EQUAL <V82> <V103>))))))))
  (RHS (PREFER GOAL (UNLOCKED <G-10>) (INROOM <V82> <G-27>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V324>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (UNLOCKED <G-10>) (INROOM <V82> <G-27>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (INROOM <V82> <G-27>))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V81>) (DR-TO-RM <V86> <V81>) (IS-OBJECT <V82>)
                    (CONNECTS <V86> <V81> <V85>) (IS-KEY <G-10> <V82>) (DR-TO-RM <G-10> <V81>)
                    (~ (INROOM <V82> <V81>)) (NOT-EQUAL <G-27> <V81>)
                    (~
                     (EXISTS (<V103>) (IS-OBJECT <V103>)
                      (AND (DR-TO-RM <G-10> <V81>) (IS-KEY <G-10> <V103>) (CONNECTS <V86> <V81> <V85>)
                           (DR-TO-RM <V86> <V81>) (IS-ROOM <V81>) (NOT-EQUAL <V82> <V103>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr21|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <G-26> <V82>))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE>
               (AND (CARRIABLE <V82>) (IS-KEY <G-10> <V82>) (~ (HOLDING <V82>))
                    (~
                     (EXISTS (<V102>) (CARRIABLE <V102>)
                      (AND (IS-KEY <G-10> <V102>) (NOT-EQUAL <V82> <V102>))))))))
  (RHS (PREFER GOAL (UNLOCKED <G-10>) (NEXT-TO <G-26> <V82>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V325>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (UNLOCKED <G-10>) (NEXT-TO <G-26> <V82>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO <G-26> <V82>))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE>
               (AND (CARRIABLE <V82>) (IS-KEY <G-10> <V82>) (~ (HOLDING <V82>))
                    (~
                     (EXISTS (<V102>) (CARRIABLE <V102>)
                      (AND (IS-KEY <G-10> <V102>) (NOT-EQUAL <V82> <V102>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr20|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO ROBOT <G-25>))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE> (AND (IS-KEY <G-10> <V82>) (DR-TO-RM <G-10> <V81>) (~ (INROOM <V82> <V81>))))))
  (RHS (PREFER GOAL (UNLOCKED <G-10>) (NEXT-TO ROBOT <G-25>))) (CUM-SAVINGS 30) (EST-SAVINGS 30)
  (PROBLEM NIL) (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V326>)) (STATIC T) (WAS-LEARNED STATIC)
  (PRIORITY 0)
  ((PREFER GOAL (UNLOCKED <G-10>) (NEXT-TO ROBOT <G-25>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (NEXT-TO ROBOT <G-25>))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE> (AND (IS-KEY <G-10> <V82>) (DR-TO-RM <G-10> <V81>) (~ (INROOM <V82> <V81>))))))
  (RULE-TYPE GOAL-PREF))
 (|sr19|
  (LHS
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (LOCKED <V86>))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V81>) (DR-TO-RM <V86> <V81>) (IS-DOOR <V86>) (CONNECTS <V86> <V81> <V85>)
                    (IS-KEY <G-10> <V82>) (DR-TO-RM <G-10> <V81>) (~ (INROOM <V82> <V81>))
                    (~ (DR-OPEN <V86>))
                    (~
                     (EXISTS (<V88>) (DR-TO-RM <V88> <V81>)
                      (AND (DR-TO-RM <G-10> <V81>) (IS-KEY <G-10> <V82>) (CONNECTS <V88> <V81> <V85>)
                           (IS-DOOR <V88>) (IS-ROOM <V81>) (NOT-EQUAL <V86> <V88>))))))))
  (RHS (PREFER GOAL (UNLOCKED <G-10>) (LOCKED <V86>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (GOAL-PREF <V327>)) (STATIC T) (WAS-LEARNED STATIC) (PRIORITY 0)
  ((PREFER GOAL (UNLOCKED <G-10>) (LOCKED <V86>))
   (AND (CURRENT-NODE <NODE>) (CANDIDATE-GOAL <NODE> (LOCKED <V86>))
        (CANDIDATE-GOAL <NODE> (UNLOCKED <G-10>))
        (KNOWN <NODE>
               (AND (IS-ROOM <V81>) (DR-TO-RM <V86> <V81>) (IS-DOOR <V86>) (CONNECTS <V86> <V81> <V85>)
                    (IS-KEY <G-10> <V82>) (DR-TO-RM <G-10> <V81>) (~ (INROOM <V82> <V81>))
                    (~ (DR-OPEN <V86>))
                    (~
                     (EXISTS (<V88>) (DR-TO-RM <V88> <V81>)
                      (AND (DR-TO-RM <G-10> <V81>) (IS-KEY <G-10> <V82>) (CONNECTS <V88> <V81> <V85>)
                           (IS-DOOR <V88>) (IS-ROOM <V81>) (NOT-EQUAL <V86> <V88>))))))))
  (RULE-TYPE GOAL-PREF))
 (|sr18|
  (LHS
   (AND (CURRENT-NODE <V296>) (CURRENT-GOAL <V296> (INROOM <G-2> <G-3>))
        (CANDIDATE-OP <V296> PUSH-THRU-DR)
        (KNOWN <V296> (OR (~ (DR-TO-RM <V48> <G-3>)) (~ (IS-DOOR <V48>)) (~ (PUSHABLE <G-2>))))))
  (RHS (REJECT OPERATOR PUSH-THRU-DR)) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL) (MATCH-TIME 0)
  (UNIQUE-SIG (OP-FAILS <V328>)) (SIG-FOR-EBS (OP-SIG <V296> (INROOM <G-2> <G-3>) PUSH-THRU-DR))
  (LHS-FOR-EBS
   (AND (KNOWN <V296> (OR (~ (DR-TO-RM <V48> <G-3>)) (~ (IS-DOOR <V48>)) (~ (PUSHABLE <G-2>))))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((REJECT OPERATOR PUSH-THRU-DR)
   (AND (CURRENT-NODE <V296>) (CURRENT-GOAL <V296> (INROOM <G-2> <G-3>))
        (CANDIDATE-OP <V296> PUSH-THRU-DR)
        (KNOWN <V296> (OR (~ (DR-TO-RM <V48> <G-3>)) (~ (IS-DOOR <V48>)) (~ (PUSHABLE <G-2>))))))
  (RULE-TYPE OP-REJECT))
 (|sr17|
  (LHS
   (AND (CURRENT-NODE <V295>) (CURRENT-GOAL <V295> (INROOM <G-2> <G-3>))
        (CANDIDATE-OP <V295> CARRY-THRU-DR)
        (KNOWN <V295>
               (OR (~ (DR-TO-RM <V48> <G-3>)) (~ (IS-DOOR <V48>))
                   (AND (~ (HOLDING <G-2>)) (~ (CARRIABLE <G-2>)))))))
  (RHS (REJECT OPERATOR CARRY-THRU-DR)) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL) (MATCH-TIME 0)
  (UNIQUE-SIG (OP-FAILS <V329>)) (SIG-FOR-EBS (OP-SIG <V295> (INROOM <G-2> <G-3>) CARRY-THRU-DR))
  (LHS-FOR-EBS
   (AND (KNOWN <V295>
               (OR (~ (DR-TO-RM <V48> <G-3>)) (~ (IS-DOOR <V48>))
                   (AND (~ (HOLDING <G-2>)) (~ (CARRIABLE <G-2>)))))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((REJECT OPERATOR CARRY-THRU-DR)
   (AND (CURRENT-NODE <V295>) (CURRENT-GOAL <V295> (INROOM <G-2> <G-3>))
        (CANDIDATE-OP <V295> CARRY-THRU-DR)
        (KNOWN <V295>
               (OR (~ (DR-TO-RM <V48> <G-3>)) (~ (IS-DOOR <V48>))
                   (AND (~ (HOLDING <G-2>)) (~ (CARRIABLE <G-2>)))))))
  (RULE-TYPE OP-REJECT))
 (|sr16|
  (LHS
   (AND (CURRENT-NODE <V294>) (CURRENT-GOAL <V294> (NEXT-TO <G-4> <G-5>))
        (CANDIDATE-OP <V294> PUSH-TO-DR)
        (KNOWN <V294> (OR (~ (IS-DOOR <G-5>)) (~ (DR-TO-RM <G-5> <V49>)) (~ (PUSHABLE <G-4>))))))
  (RHS (REJECT OPERATOR PUSH-TO-DR)) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL) (MATCH-TIME 0)
  (UNIQUE-SIG (OP-FAILS <V330>)) (SIG-FOR-EBS (OP-SIG <V294> (NEXT-TO <G-4> <G-5>) PUSH-TO-DR))
  (LHS-FOR-EBS
   (AND (KNOWN <V294> (OR (~ (IS-DOOR <G-5>)) (~ (DR-TO-RM <G-5> <V49>)) (~ (PUSHABLE <G-4>))))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((REJECT OPERATOR PUSH-TO-DR)
   (AND (CURRENT-NODE <V294>) (CURRENT-GOAL <V294> (NEXT-TO <G-4> <G-5>))
        (CANDIDATE-OP <V294> PUSH-TO-DR)
        (KNOWN <V294> (OR (~ (IS-DOOR <G-5>)) (~ (DR-TO-RM <G-5> <V49>)) (~ (PUSHABLE <G-4>))))))
  (RULE-TYPE OP-REJECT))
 (|sr15|
  (LHS
   (AND (CURRENT-NODE <V293>) (CURRENT-GOAL <V293> (NEXT-TO <G-4> <G-5>))
        (CANDIDATE-OP <V293> PUTDOWN-NEXT-TO)
        (KNOWN <V293>
               (AND (OR (AND (~ (HOLDING <G-4>)) (~ (CARRIABLE <G-4>))) (~ (IS-OBJECT <G-5>)))
                    (OR (AND (~ (HOLDING <G-5>)) (~ (CARRIABLE <G-5>))) (~ (IS-OBJECT <G-4>)))))))
  (RHS (REJECT OPERATOR PUTDOWN-NEXT-TO)) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL) (MATCH-TIME 0)
  (UNIQUE-SIG (OP-FAILS <V331>)) (SIG-FOR-EBS (OP-SIG <V293> (NEXT-TO <G-4> <G-5>) PUTDOWN-NEXT-TO))
  (LHS-FOR-EBS
   (AND (KNOWN <V293>
               (AND (OR (AND (~ (HOLDING <G-4>)) (~ (CARRIABLE <G-4>))) (~ (IS-OBJECT <G-5>)))
                    (OR (AND (~ (HOLDING <G-5>)) (~ (CARRIABLE <G-5>))) (~ (IS-OBJECT <G-4>)))))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((REJECT OPERATOR PUTDOWN-NEXT-TO)
   (AND (CURRENT-NODE <V293>) (CURRENT-GOAL <V293> (NEXT-TO <G-4> <G-5>))
        (CANDIDATE-OP <V293> PUTDOWN-NEXT-TO)
        (KNOWN <V293>
               (AND (OR (AND (~ (HOLDING <G-4>)) (~ (CARRIABLE <G-4>))) (~ (IS-OBJECT <G-5>)))
                    (OR (AND (~ (HOLDING <G-5>)) (~ (CARRIABLE <G-5>))) (~ (IS-OBJECT <G-4>)))))))
  (RULE-TYPE OP-REJECT))
 (|sr14|
  (LHS
   (AND (CURRENT-NODE <V292>) (CURRENT-GOAL <V292> (NEXT-TO <G-4> <G-5>)) (CANDIDATE-OP <V292> PUSH-BOX)
        (KNOWN <V292>
               (AND (OR (~ (IS-OBJECT <G-5>)) (~ (IS-OBJECT <G-4>)) (~ (PUSHABLE <G-5>)))
                    (OR (~ (IS-OBJECT <G-4>)) (~ (IS-OBJECT <G-5>)) (~ (PUSHABLE <G-4>)))))))
  (RHS (REJECT OPERATOR PUSH-BOX)) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL) (MATCH-TIME 0)
  (UNIQUE-SIG (OP-FAILS <V332>)) (SIG-FOR-EBS (OP-SIG <V292> (NEXT-TO <G-4> <G-5>) PUSH-BOX))
  (LHS-FOR-EBS
   (AND (KNOWN <V292>
               (AND (OR (~ (IS-OBJECT <G-5>)) (~ (IS-OBJECT <G-4>)) (~ (PUSHABLE <G-5>)))
                    (OR (~ (IS-OBJECT <G-4>)) (~ (IS-OBJECT <G-5>)) (~ (PUSHABLE <G-4>)))))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((REJECT OPERATOR PUSH-BOX)
   (AND (CURRENT-NODE <V292>) (CURRENT-GOAL <V292> (NEXT-TO <G-4> <G-5>)) (CANDIDATE-OP <V292> PUSH-BOX)
        (KNOWN <V292>
               (AND (OR (~ (IS-OBJECT <G-5>)) (~ (IS-OBJECT <G-4>)) (~ (PUSHABLE <G-5>)))
                    (OR (~ (IS-OBJECT <G-4>)) (~ (IS-OBJECT <G-5>)) (~ (PUSHABLE <G-4>)))))))
  (RULE-TYPE OP-REJECT))
 (|sr13|
  (LHS
   (AND (CURRENT-NODE <V291>) (CURRENT-GOAL <V291> (NEXT-TO ROBOT <G-6>)) (CANDIDATE-OP <V291> PUTDOWN)
        (KNOWN <V291> (~ (HOLDING <G-6>)))))
  (RHS (REJECT OPERATOR PUTDOWN)) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL) (MATCH-TIME 0)
  (UNIQUE-SIG (OP-FAILS <V333>)) (SIG-FOR-EBS (OP-SIG <V291> (NEXT-TO ROBOT <G-6>) PUTDOWN))
  (LHS-FOR-EBS (AND (KNOWN <V291> (~ (HOLDING <G-6>))))) (STATIC T) (WAS-LEARNED STATIC)
  ((REJECT OPERATOR PUTDOWN)
   (AND (CURRENT-NODE <V291>) (CURRENT-GOAL <V291> (NEXT-TO ROBOT <G-6>)) (CANDIDATE-OP <V291> PUTDOWN)
        (KNOWN <V291> (~ (HOLDING <G-6>)))))
  (RULE-TYPE OP-REJECT))
 (|sr12|
  (LHS
   (AND (CURRENT-NODE <V289>) (CURRENT-GOAL <V289> (NEXT-TO ROBOT <G-6>))
        (CANDIDATE-OP <V289> PUTDOWN-NEXT-TO)
        (KNOWN <V289>
               (OR (~ (HOLDING <G-6>)) (~ (IS-OBJECT <V52>))
                   (AND (~ (INROOM <V52> <V51>))
                        (OR (~ (DR-TO-RM <V58> <V51>)) (~ (IS-DOOR <V58>))
                            (AND (~ (HOLDING <V52>)) (~ (CARRIABLE <V52>))))
                        (OR (~ (DR-TO-RM <V58> <V51>)) (~ (IS-DOOR <V58>)) (~ (PUSHABLE <V52>))))))))
  (RHS (REJECT OPERATOR PUTDOWN-NEXT-TO)) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL) (MATCH-TIME 0)
  (UNIQUE-SIG (OP-FAILS <V334>)) (SIG-FOR-EBS (OP-SIG <V289> (NEXT-TO ROBOT <G-6>) PUTDOWN-NEXT-TO))
  (LHS-FOR-EBS
   (AND (KNOWN <V289>
               (OR (~ (HOLDING <G-6>)) (~ (IS-OBJECT <V52>))
                   (AND (~ (INROOM <V52> <V51>))
                        (OR (~ (DR-TO-RM <V58> <V51>)) (~ (IS-DOOR <V58>))
                            (AND (~ (HOLDING <V52>)) (~ (CARRIABLE <V52>))))
                        (OR (~ (DR-TO-RM <V58> <V51>)) (~ (IS-DOOR <V58>)) (~ (PUSHABLE <V52>))))))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((REJECT OPERATOR PUTDOWN-NEXT-TO)
   (AND (CURRENT-NODE <V289>) (CURRENT-GOAL <V289> (NEXT-TO ROBOT <G-6>))
        (CANDIDATE-OP <V289> PUTDOWN-NEXT-TO)
        (KNOWN <V289>
               (OR (~ (HOLDING <G-6>)) (~ (IS-OBJECT <V52>))
                   (AND (~ (INROOM <V52> <V51>))
                        (OR (~ (DR-TO-RM <V58> <V51>)) (~ (IS-DOOR <V58>))
                            (AND (~ (HOLDING <V52>)) (~ (CARRIABLE <V52>))))
                        (OR (~ (DR-TO-RM <V58> <V51>)) (~ (IS-DOOR <V58>)) (~ (PUSHABLE <V52>))))))))
  (RULE-TYPE OP-REJECT))
 (|sr11|
  (LHS
   (AND (CURRENT-NODE <V288>) (CURRENT-GOAL <V288> (NEXT-TO ROBOT <G-6>))
        (CANDIDATE-OP <V288> PUSH-TO-DR)))
  (RHS (REJECT OPERATOR PUSH-TO-DR)) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL) (MATCH-TIME 0)
  (UNIQUE-SIG (OP-FAILS <V335>)) (SIG-FOR-EBS (OP-SIG <V288> (NEXT-TO ROBOT <G-6>) PUSH-TO-DR))
  (LHS-FOR-EBS (AND)) (STATIC T) (WAS-LEARNED STATIC)
  ((REJECT OPERATOR PUSH-TO-DR)
   (AND (CURRENT-NODE <V288>) (CURRENT-GOAL <V288> (NEXT-TO ROBOT <G-6>))
        (CANDIDATE-OP <V288> PUSH-TO-DR)))
  (RULE-TYPE OP-REJECT))
 (|sr10|
  (LHS
   (AND (CURRENT-NODE <V287>) (CURRENT-GOAL <V287> (NEXT-TO ROBOT <G-6>)) (CANDIDATE-OP <V287> GOTO-DR)
        (KNOWN <V287> (OR (~ (IS-DOOR <G-6>)) (~ (DR-TO-RM <G-6> <V55>))))))
  (RHS (REJECT OPERATOR GOTO-DR)) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL) (MATCH-TIME 0)
  (UNIQUE-SIG (OP-FAILS <V336>)) (SIG-FOR-EBS (OP-SIG <V287> (NEXT-TO ROBOT <G-6>) GOTO-DR))
  (LHS-FOR-EBS (AND (KNOWN <V287> (OR (~ (IS-DOOR <G-6>)) (~ (DR-TO-RM <G-6> <V55>)))))) (STATIC T)
  (WAS-LEARNED STATIC)
  ((REJECT OPERATOR GOTO-DR)
   (AND (CURRENT-NODE <V287>) (CURRENT-GOAL <V287> (NEXT-TO ROBOT <G-6>)) (CANDIDATE-OP <V287> GOTO-DR)
        (KNOWN <V287> (OR (~ (IS-DOOR <G-6>)) (~ (DR-TO-RM <G-6> <V55>))))))
  (RULE-TYPE OP-REJECT))
 (|sr9|
  (LHS
   (AND (CURRENT-NODE <V286>) (CURRENT-GOAL <V286> (NEXT-TO ROBOT <G-6>)) (CANDIDATE-OP <V286> GOTO-OBJ)
        (KNOWN <V286> (~ (IS-OBJECT <G-6>)))))
  (RHS (REJECT OPERATOR GOTO-OBJ)) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL) (MATCH-TIME 0)
  (UNIQUE-SIG (OP-FAILS <V337>)) (SIG-FOR-EBS (OP-SIG <V286> (NEXT-TO ROBOT <G-6>) GOTO-OBJ))
  (LHS-FOR-EBS (AND (KNOWN <V286> (~ (IS-OBJECT <G-6>))))) (STATIC T) (WAS-LEARNED STATIC)
  ((REJECT OPERATOR GOTO-OBJ)
   (AND (CURRENT-NODE <V286>) (CURRENT-GOAL <V286> (NEXT-TO ROBOT <G-6>)) (CANDIDATE-OP <V286> GOTO-OBJ)
        (KNOWN <V286> (~ (IS-OBJECT <G-6>)))))
  (RULE-TYPE OP-REJECT))
 (|sr8|
  (LHS
   (AND (CURRENT-NODE <V338>) (CURRENT-GOAL <V338> (INROOM ROBOT <G-1>)) (CURRENT-OP <V338> GO-THRU-DR)
        (KNOWN <V338>
               (AND (DR-TO-RM <V40> <G-1>) (IS-DOOR <V40>)
                    (OR (DR-OPEN <V40>) (UNLOCKED <V40>)
                        (AND (IS-KEY <V40> <V46>) (OR (HOLDING <V46>) (CARRIABLE <V46>))
                             (DR-TO-RM <V40> <V45>)))))))
  (RHS (SELECT BINDINGS (<V40> <G-1> <V39>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (BINDINGS-FAIL <V339>))
  (SIG-FOR-EBS (BINDINGS-SIG <V338> (INROOM ROBOT <G-1>) GO-THRU-DR (<V40> <G-1> <V39>)))
  (LHS-FOR-EBS
   (AND (KNOWN <V338>
               (AND (DR-TO-RM <V40> <G-1>) (IS-DOOR <V40>)
                    (OR (DR-OPEN <V40>) (UNLOCKED <V40>)
                        (AND (IS-KEY <V40> <V46>) (OR (HOLDING <V46>) (CARRIABLE <V46>))
                             (DR-TO-RM <V40> <V45>)))))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((SELECT BINDINGS (<V40> <G-1> <V39>))
   (AND (CURRENT-NODE <V338>) (CURRENT-GOAL <V338> (INROOM ROBOT <G-1>)) (CURRENT-OP <V338> GO-THRU-DR)
        (KNOWN <V338>
               (AND (DR-TO-RM <V40> <G-1>) (IS-DOOR <V40>)
                    (OR (DR-OPEN <V40>) (UNLOCKED <V40>)
                        (AND (IS-KEY <V40> <V46>) (OR (HOLDING <V46>) (CARRIABLE <V46>))
                             (DR-TO-RM <V40> <V45>)))))))
  (RULE-TYPE BINDINGS-SELECT))
 (|sr7|
  (LHS
   (AND (CURRENT-NODE <V340>) (CURRENT-GOAL <V340> (INROOM <G-2> <G-3>))
        (CURRENT-OP <V340> PUSH-THRU-DR)
        (KNOWN <V340> (AND (DR-TO-RM <V48> <G-3>) (IS-DOOR <V48>) (PUSHABLE <G-2>)))))
  (RHS (SELECT BINDINGS (<G-2> <V48> <G-3> <V47>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (BINDINGS-FAIL <V341>))
  (SIG-FOR-EBS (BINDINGS-SIG <V340> (INROOM <G-2> <G-3>) PUSH-THRU-DR (<G-2> <V48> <G-3> <V47>)))
  (LHS-FOR-EBS (AND (KNOWN <V340> (AND (DR-TO-RM <V48> <G-3>) (IS-DOOR <V48>) (PUSHABLE <G-2>)))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((SELECT BINDINGS (<G-2> <V48> <G-3> <V47>))
   (AND (CURRENT-NODE <V340>) (CURRENT-GOAL <V340> (INROOM <G-2> <G-3>))
        (CURRENT-OP <V340> PUSH-THRU-DR)
        (KNOWN <V340> (AND (DR-TO-RM <V48> <G-3>) (IS-DOOR <V48>) (PUSHABLE <G-2>)))))
  (RULE-TYPE BINDINGS-SELECT))
 (|sr6|
  (LHS
   (AND (CURRENT-NODE <V342>) (CURRENT-GOAL <V342> (INROOM <G-2> <G-3>))
        (CURRENT-OP <V342> CARRY-THRU-DR)
        (KNOWN <V342>
               (AND (DR-TO-RM <V48> <G-3>) (IS-DOOR <V48>) (OR (HOLDING <G-2>) (CARRIABLE <G-2>))))))
  (RHS (SELECT BINDINGS (<G-2> <V48> <G-3> <V47>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (BINDINGS-FAIL <V343>))
  (SIG-FOR-EBS (BINDINGS-SIG <V342> (INROOM <G-2> <G-3>) CARRY-THRU-DR (<G-2> <V48> <G-3> <V47>)))
  (LHS-FOR-EBS
   (AND (KNOWN <V342>
               (AND (DR-TO-RM <V48> <G-3>) (IS-DOOR <V48>) (OR (HOLDING <G-2>) (CARRIABLE <G-2>))))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((SELECT BINDINGS (<G-2> <V48> <G-3> <V47>))
   (AND (CURRENT-NODE <V342>) (CURRENT-GOAL <V342> (INROOM <G-2> <G-3>))
        (CURRENT-OP <V342> CARRY-THRU-DR)
        (KNOWN <V342>
               (AND (DR-TO-RM <V48> <G-3>) (IS-DOOR <V48>) (OR (HOLDING <G-2>) (CARRIABLE <G-2>))))))
  (RULE-TYPE BINDINGS-SELECT))
 (|sr5|
  (LHS
   (AND (CURRENT-NODE <V344>) (CURRENT-GOAL <V344> (NEXT-TO <G-4> <G-5>)) (CURRENT-OP <V344> PUSH-TO-DR)
        (KNOWN <V344> (AND (IS-DOOR <G-5>) (DR-TO-RM <G-5> <V49>) (PUSHABLE <G-4>)))))
  (RHS (SELECT BINDINGS (<G-4> <G-5> <V49>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (BINDINGS-FAIL <V345>))
  (SIG-FOR-EBS (BINDINGS-SIG <V344> (NEXT-TO <G-4> <G-5>) PUSH-TO-DR (<G-4> <G-5> <V49>)))
  (LHS-FOR-EBS (AND (KNOWN <V344> (AND (IS-DOOR <G-5>) (DR-TO-RM <G-5> <V49>) (PUSHABLE <G-4>)))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((SELECT BINDINGS (<G-4> <G-5> <V49>))
   (AND (CURRENT-NODE <V344>) (CURRENT-GOAL <V344> (NEXT-TO <G-4> <G-5>)) (CURRENT-OP <V344> PUSH-TO-DR)
        (KNOWN <V344> (AND (IS-DOOR <G-5>) (DR-TO-RM <G-5> <V49>) (PUSHABLE <G-4>)))))
  (RULE-TYPE BINDINGS-SELECT))
 (|sr4|
  (LHS
   (AND (CURRENT-NODE <V346>) (CURRENT-GOAL <V346> (NEXT-TO ROBOT <G-6>))
        (CURRENT-OP <V346> PUTDOWN-NEXT-TO)
        (KNOWN <V346>
               (AND (HOLDING <G-6>) (IS-OBJECT <V52>)
                    (OR (INROOM <V52> <V51>)
                        (AND (DR-TO-RM <V58> <V51>) (IS-DOOR <V58>)
                             (OR (HOLDING <V52>) (CARRIABLE <V52>)))
                        (AND (DR-TO-RM <V58> <V51>) (IS-DOOR <V58>) (PUSHABLE <V52>)))))))
  (RHS (SELECT BINDINGS (<G-6> <V52> <V51>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (BINDINGS-FAIL <V347>))
  (SIG-FOR-EBS (BINDINGS-SIG <V346> (NEXT-TO ROBOT <G-6>) PUTDOWN-NEXT-TO (<G-6> <V52> <V51>)))
  (LHS-FOR-EBS
   (AND (KNOWN <V346>
               (AND (HOLDING <G-6>) (IS-OBJECT <V52>)
                    (OR (INROOM <V52> <V51>)
                        (AND (DR-TO-RM <V58> <V51>) (IS-DOOR <V58>)
                             (OR (HOLDING <V52>) (CARRIABLE <V52>)))
                        (AND (DR-TO-RM <V58> <V51>) (IS-DOOR <V58>) (PUSHABLE <V52>)))))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((SELECT BINDINGS (<G-6> <V52> <V51>))
   (AND (CURRENT-NODE <V346>) (CURRENT-GOAL <V346> (NEXT-TO ROBOT <G-6>))
        (CURRENT-OP <V346> PUTDOWN-NEXT-TO)
        (KNOWN <V346>
               (AND (HOLDING <G-6>) (IS-OBJECT <V52>)
                    (OR (INROOM <V52> <V51>)
                        (AND (DR-TO-RM <V58> <V51>) (IS-DOOR <V58>)
                             (OR (HOLDING <V52>) (CARRIABLE <V52>)))
                        (AND (DR-TO-RM <V58> <V51>) (IS-DOOR <V58>) (PUSHABLE <V52>)))))))
  (RULE-TYPE BINDINGS-SELECT))
 (|sr3|
  (LHS
   (AND (CURRENT-NODE <V348>) (CURRENT-GOAL <V348> (NEXT-TO ROBOT <G-6>)) (CURRENT-OP <V348> GOTO-DR)
        (KNOWN <V348> (AND (IS-DOOR <G-6>) (DR-TO-RM <G-6> <V55>)))))
  (RHS (SELECT BINDINGS (<G-6> <V55>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL) (MATCH-TIME 0)
  (UNIQUE-SIG (BINDINGS-FAIL <V349>))
  (SIG-FOR-EBS (BINDINGS-SIG <V348> (NEXT-TO ROBOT <G-6>) GOTO-DR (<G-6> <V55>)))
  (LHS-FOR-EBS (AND (KNOWN <V348> (AND (IS-DOOR <G-6>) (DR-TO-RM <G-6> <V55>))))) (STATIC T)
  (WAS-LEARNED STATIC)
  ((SELECT BINDINGS (<G-6> <V55>))
   (AND (CURRENT-NODE <V348>) (CURRENT-GOAL <V348> (NEXT-TO ROBOT <G-6>)) (CURRENT-OP <V348> GOTO-DR)
        (KNOWN <V348> (AND (IS-DOOR <G-6>) (DR-TO-RM <G-6> <V55>)))))
  (RULE-TYPE BINDINGS-SELECT))
 (|sr2|
  (LHS
   (AND (CURRENT-NODE <V350>) (CURRENT-GOAL <V350> (LOCKED <G-9>)) (CURRENT-OP <V350> LOCK)
        (KNOWN <V350>
               (AND (IS-KEY <G-9> <V70>) (OR (HOLDING <V70>) (CARRIABLE <V70>)) (DR-TO-RM <G-9> <V69>)
                    (OR (INROOM <V70> <V69>)
                        (AND (DR-TO-RM <V74> <V69>) (IS-DOOR <V74>)
                             (OR (DR-OPEN <V74>) (UNLOCKED <V74>)
                                 (AND (IS-KEY <V74> <V78>) (OR (HOLDING <V78>) (CARRIABLE <V78>))
                                      (DR-TO-RM <V74> <V77>)))
                             (OR (HOLDING <V70>) (CARRIABLE <V70>))))))))
  (RHS (SELECT BINDINGS (<G-9> <V70> <V69>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (BINDINGS-FAIL <V351>))
  (SIG-FOR-EBS (BINDINGS-SIG <V350> (LOCKED <G-9>) LOCK (<G-9> <V70> <V69>)))
  (LHS-FOR-EBS
   (AND (KNOWN <V350>
               (AND (IS-KEY <G-9> <V70>) (OR (HOLDING <V70>) (CARRIABLE <V70>)) (DR-TO-RM <G-9> <V69>)
                    (OR (INROOM <V70> <V69>)
                        (AND (DR-TO-RM <V74> <V69>) (IS-DOOR <V74>)
                             (OR (DR-OPEN <V74>) (UNLOCKED <V74>)
                                 (AND (IS-KEY <V74> <V78>) (OR (HOLDING <V78>) (CARRIABLE <V78>))
                                      (DR-TO-RM <V74> <V77>)))
                             (OR (HOLDING <V70>) (CARRIABLE <V70>))))))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((SELECT BINDINGS (<G-9> <V70> <V69>))
   (AND (CURRENT-NODE <V350>) (CURRENT-GOAL <V350> (LOCKED <G-9>)) (CURRENT-OP <V350> LOCK)
        (KNOWN <V350>
               (AND (IS-KEY <G-9> <V70>) (OR (HOLDING <V70>) (CARRIABLE <V70>)) (DR-TO-RM <G-9> <V69>)
                    (OR (INROOM <V70> <V69>)
                        (AND (DR-TO-RM <V74> <V69>) (IS-DOOR <V74>)
                             (OR (DR-OPEN <V74>) (UNLOCKED <V74>)
                                 (AND (IS-KEY <V74> <V78>) (OR (HOLDING <V78>) (CARRIABLE <V78>))
                                      (DR-TO-RM <V74> <V77>)))
                             (OR (HOLDING <V70>) (CARRIABLE <V70>))))))))
  (RULE-TYPE BINDINGS-SELECT))
 (|sr1|
  (LHS
   (AND (CURRENT-NODE <V352>) (CURRENT-GOAL <V352> (UNLOCKED <G-10>)) (CURRENT-OP <V352> UNLOCK)
        (KNOWN <V352>
               (AND (IS-KEY <G-10> <V82>) (OR (HOLDING <V82>) (CARRIABLE <V82>)) (DR-TO-RM <G-10> <V81>)
                    (OR (INROOM <V82> <V81>)
                        (AND (DR-TO-RM <V86> <V81>) (IS-DOOR <V86>)
                             (OR (HOLDING <V82>) (CARRIABLE <V82>))))))))
  (RHS (SELECT BINDINGS (<G-10> <V82> <V81>))) (CUM-SAVINGS 30) (EST-SAVINGS 30) (PROBLEM NIL)
  (MATCH-TIME 0) (UNIQUE-SIG (BINDINGS-FAIL <V353>))
  (SIG-FOR-EBS (BINDINGS-SIG <V352> (UNLOCKED <G-10>) UNLOCK (<G-10> <V82> <V81>)))
  (LHS-FOR-EBS
   (AND (KNOWN <V352>
               (AND (IS-KEY <G-10> <V82>) (OR (HOLDING <V82>) (CARRIABLE <V82>)) (DR-TO-RM <G-10> <V81>)
                    (OR (INROOM <V82> <V81>)
                        (AND (DR-TO-RM <V86> <V81>) (IS-DOOR <V86>)
                             (OR (HOLDING <V82>) (CARRIABLE <V82>))))))))
  (STATIC T) (WAS-LEARNED STATIC)
  ((SELECT BINDINGS (<G-10> <V82> <V81>))
   (AND (CURRENT-NODE <V352>) (CURRENT-GOAL <V352> (UNLOCKED <G-10>)) (CURRENT-OP <V352> UNLOCK)
        (KNOWN <V352>
               (AND (IS-KEY <G-10> <V82>) (OR (HOLDING <V82>) (CARRIABLE <V82>)) (DR-TO-RM <G-10> <V81>)
                    (OR (INROOM <V82> <V81>)
                        (AND (DR-TO-RM <V86> <V81>) (IS-DOOR <V86>)
                             (OR (HOLDING <V82>) (CARRIABLE <V82>))))))))
  (RULE-TYPE BINDINGS-SELECT)))))