(define (problem strips-teatime) (:domain tea1) (:objects (1..14 - 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) (connected 11 13)(connected 12 14) /* 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) (allowed p1 13)(allowed p2 14) /* 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)) (not(at p2 13)) (not(at p1 14)) ) (:init (at p1 1) (at p2 2) (free p1) (free p2) (forall (?r -room ) (ordered ?r) ) ) (:goal (forall (?r - room) (not (ordered ?r)) )) )