(define (problem test) (:domain TIDYBOT) (:objects pr2 - robot cart - cart object0 - object object1 - object object2 - object object3 - object x0 - xc x1 - xc x2 - xc x3 - xc x4 - xc y0 - yc y1 - yc y2 - yc y3 - yc y4 - yc xrel-1 - xrel xrel0 - xrel xrel1 - xrel yrel-1 - yrel yrel0 - yrel yrel1 - yrel ) (:init (leftof x0 x1) (leftof x1 x2) (leftof x2 x3) (leftof x3 x4) (above y0 y1) (above y1 y2) (above y2 y3) (above y3 y4) (leftof-rel xrel-1 xrel0) (leftof-rel xrel0 xrel1) (above-rel yrel-1 yrel0) (above-rel yrel0 yrel1) (sum-x x0 xrel0 x0) (sum-x x0 xrel1 x1) (sum-x x1 xrel-1 x0) (sum-x x1 xrel0 x1) (sum-x x1 xrel1 x2) (sum-x x2 xrel-1 x1) (sum-x x2 xrel0 x2) (sum-x x2 xrel1 x3) (sum-x x3 xrel-1 x2) (sum-x x3 xrel0 x3) (sum-x x3 xrel1 x4) (sum-x x4 xrel-1 x3) (sum-x x4 xrel0 x4) (sum-y y0 yrel0 y0) (sum-y y0 yrel1 y1) (sum-y y1 yrel-1 y0) (sum-y y1 yrel0 y1) (sum-y y1 yrel1 y2) (sum-y y2 yrel-1 y1) (sum-y y2 yrel0 y2) (sum-y y2 yrel1 y3) (sum-y y3 yrel-1 y2) (sum-y y3 yrel0 y3) (sum-y y3 yrel1 y4) (sum-y y4 yrel-1 y3) (sum-y y4 yrel0 y4) (zerox-rel xrel0) (zeroy-rel yrel0) (object-goal object0 x2 y2) (object-goal object1 x2 y3) (object-goal object2 x3 y2) (object-goal object3 x3 y3) (parked pr2) (not-pushing pr2) (base-pos pr2 x0 y0) (base-obstacle x0 y0) (base-obstacle x1 y1)(gripper-obstacle x1 y1) (base-obstacle x1 y2)(gripper-obstacle x1 y2) (base-obstacle x1 y3)(gripper-obstacle x1 y3) (base-obstacle x1 y4)(gripper-obstacle x1 y4) (base-obstacle x2 y1)(gripper-obstacle x2 y1) (base-obstacle x2 y4)(gripper-obstacle x2 y4) (base-obstacle x3 y1)(gripper-obstacle x3 y1) (base-obstacle x3 y4)(gripper-obstacle x3 y4) (base-obstacle x4 y1)(gripper-obstacle x4 y1) (base-obstacle x4 y4)(gripper-obstacle x4 y4) (surface x2 y2) (surface x2 y3) (surface x3 y2) (surface x3 y3) (cart-pos cart x0 y1) (not-pushed cart) (base-obstacle x0 y1) (object-pos object0 x2 y2) (object-pos object1 x2 y3) (object-pos object2 x3 y2) (object-pos object3 x3 y3) (gripper-empty pr2) (gripper-rel pr2 xrel0 yrel0) (gripper-obstacle x2 y2) (gripper-obstacle x2 y3) (gripper-obstacle x3 y2) (gripper-obstacle x3 y3) ) (:goal (and (object-done object0) (object-done object1) (object-done object2) (object-done object3) )))