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\hspace{0.0em} \= componentAbstraction(Graph $g$) \{ \\
\> \quad \= {\bf for}\ (each $t \in {Types}(g)$\  chosen in random order) \{ \\
\> \> \quad \= $\mbox{resetAllStructures}()$; \\
\> \> \quad \= $Open \leftarrow t$; \\
\> \> \quad \= {\bf for}\ (each $c_i \in {Nodes}(g)$\  with type $t$) \\
\> \> \> \quad \= $AC \leftarrow \mbox{createComponent}(c_i)$; \\
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\> \> \> \> $Closed \leftarrow t_1$; \\
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\> \> \> \> \quad \= $Tried \leftarrow p$; \\
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\> \> \> \} \\
\> \> \quad \= {\bf if}\ ($\mbox{evaluateDecomposition}() = \mbox{OK}$) \\
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\> \> \= \} \\
\> \> {\bf return}\ $\emptyset$; \\
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\hspace{0.0em} \= (:action UNLOAD---DROP  \\
\quad \= :parameters \\
\> \quad \= (?h - hoist ?c - crate ?t - truck ?p - place ?s - surface) \\
\> :precondition \\
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\> :parameters \\
\> \> (?x - hoist ?y - crate ?t - truck ?p - place) \\
\> :precondition \\
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(:action DROP \\
\> :parameters \\
\> \> (?x - hoist ?y - crate ?s - surface ?p - place) \\
\> :precondition \\
\> \> (and \> (lifting ?x ?y) (clear ?s) (at ?s ?p) (at ?x ?p)) \\
\> :effect \\
\> \> (and \quad \= (available ?x) (not (lifting ?x ?y)) (at ?y ?p) \\
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\hspace{0.0em} \= {\bf void}\ addOperatorToMacro(operator $o$, macro $m$, variable-mapping $vm$) \{ \\
\> \quad \= {\bf for}\ (each precondition $p {\bf in}P(o)$) \{ \\
\> \> \quad \= {\bf if}\ ($p \notin A(m) \cup P(m)$) \\
\> \> \> \quad $P(m) = P(m) \cup \{p\}$; \\
\> \> \}\\
\> \quad \= {\bf for}\ (each delete effect $d {\bf in}D(o)$) \{ \\
\> \> \quad \= {\bf if}\ ($d {\bf in}A(m)$) \\
\> \> \> \quad \= $A(m) = A(m) - \{d\}$; \\
\> \> \> $D(m) = D(m) \cup \{d\}$; \\
\> \> \}\\
\> \quad \= {\bf for}\ (each add effect $a {\bf in}A(o)$) \{ \\
\> \> \quad \= {\bf if}\ ($a {\bf in}D(m)$) \\
\> \> \> \quad \= $D(m) = D(m) - \{a\}$; \\
\> \> \> $A(m) = A(m) \cup \{a\}$; \\
\> \> \} \\
\} 
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(:action TAKE-IMAGE \\
\quad \= :parameters \\
\> \quad \= (?r - rover ?p - waypoint ?o - objective ?i - camera ?m - mode) \\
\> :precondition \\
\> \> (and \quad \= (calibrated ?i ?r) (on-board ?i ?r) (equipped-for-imaging ?r) \\
\> \> \> (supports ?i ?m) (visible-from ?o ?p) (at ?r ?p)) \\
\> :effect \\
\> \> (and \> (have-image ?r ?o ?m) (not (calibrated ?i ?r))) \\
) \\
(:action TAKE-IMAGE---TAKE-IMAGE \\
\quad \= :parameters \\
\> \quad \= (?r0 - rover ?p - waypoint ?o - objective ?i0 - camera ?m - mode \\
\> \>       ?r1 - rover ?i1 - camera) \\
\> :precondition \\
\> \> (and \quad \= (calibrated ?i0 ?r0) (on-board ?i0 ?r0) (equipped-for-imaging ?r0) \\
\> \> \> (calibrated ?i1 ?r1) (on-board ?i1 ?r1) (equipped-for-imaging ?r1) \\
\> \> \> (supports ?i0 ?m) (visible-from ?o ?p) (at ?r0 ?p) \\
\> \> \> (supports ?i1 ?m) (at ?r1 ?p))\\
\> :effect \\
\> \> (and \> (have-image ?r0 ?o ?m) (not (calibrated ?i0 ?r0)) \\
\> \> \> (have-image ?r1 ?o ?m) (not (calibrated ?i1 ?r1))) \\
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\hspace{0.0em} \= (:action move \\
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\> :precondition \\
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\> \> \> \> (not (blocked ?s1 ?a))) \\
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\> \> \> \> (not (facing ?a ?d1))) \\
\> \> \> (not (at-segment ?a ?s1)) \\
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\> \> \> \> \> (blocked ?s ?a))) \\
\> \> \> (forall \quad \= (?s - segment) \\
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\> \> \> \> \> \> (not (= ?s ?s2)) \\
\> \> \> \> \> \> (not (is-blocked ?s ?t ?s2 ?d2))) \\
\> \> \> \> \> (not (blocked ?s ?a)))) \\
\> \> \> (at-segment ?a ?s2) \\
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