(define (problem strips-teatime)
(:domain tea1)
(:objects (1..8 - 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)
/* 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)
/* 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))
)
(:init (at p1 1) (at p2 2) (free p1) (free p2)
(forall (?r -room ) (ordered ?r) ) )
(:goal (forall (?r - room) (not (ordered ?r)) ))
)