(define (problem strips-teatime)
   (:domain tea1)
   (:objects (1..12 - 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)
	(connected 9 11)(connected 10 12)
       /* 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)
	(allowed p1 11)(allowed p2 12)

       /* 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)) 
	(not(at p2 11)) (not(at p1 12)) 
)

(:init   (at p1 1) (at p2 2) (free p1) (free p2) 
         (forall (?r -room ) (ordered ?r) ) )

(:goal  (forall (?r - room) (not (ordered ?r)) ))
)