(define (problem strips-teatime) (:domain tea2) (:objects (1..10 - room ) (p1 p2 -robot)) (:theory (teamachine 1) (cupstack 2) (connected 1 3)(connected 3 5) (connected 2 4)(connected 4 6) (connected 5 7)(connected 6 8) (connected 7 9)(connected 8 10) /* p1 is allowed in all odd rooms, p2 in even ones */ (allowed p1 1) (allowed p2 2) (allowed p1 3) (allowed p2 4) (allowed p1 5) (allowed p2 6) (allowed p1 7)(allowed p2 8) (allowed p1 9)(allowed p2 10) /* a robot can never be at a room where he's not allowed */ (not(at p2 1)) (not(at p1 2)) (not(at p2 3)) (not(at p1 4)) (not(at p2 5)) (not(at p1 6)) (not(at p2 7)) (not(at p1 8)) (not(at p2 9)) (not(at p1 10)) ) (:init (at p1 1) (at p2 2) (free p1) (free p2) (forall (?r -room ) (ordered ?r) ) ) (:goal (forall (?r - room) (not (ordered ?r)) )) )