(define (problem test) (:domain TIDYBOT) (:objects pr2 - robot cart - cart object0 - object object1 - object object2 - object object3 - object object4 - object object5 - object object6 - object object7 - object object8 - object object9 - object object10 - object object11 - object x0 - xc x1 - xc x2 - xc x3 - xc x4 - xc x5 - xc x6 - xc x7 - xc x8 - xc x9 - xc x10 - xc x11 - xc y0 - yc y1 - yc y2 - yc y3 - yc y4 - yc y5 - yc y6 - yc y7 - yc y8 - yc y9 - yc y10 - yc y11 - 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) (leftof x4 x5) (leftof x5 x6) (leftof x6 x7) (leftof x7 x8) (leftof x8 x9) (leftof x9 x10) (leftof x10 x11) (above y0 y1) (above y1 y2) (above y2 y3) (above y3 y4) (above y4 y5) (above y5 y6) (above y6 y7) (above y7 y8) (above y8 y9) (above y9 y10) (above y10 y11) (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-x x4 xrel1 x5) (sum-x x5 xrel-1 x4) (sum-x x5 xrel0 x5) (sum-x x5 xrel1 x6) (sum-x x6 xrel-1 x5) (sum-x x6 xrel0 x6) (sum-x x6 xrel1 x7) (sum-x x7 xrel-1 x6) (sum-x x7 xrel0 x7) (sum-x x7 xrel1 x8) (sum-x x8 xrel-1 x7) (sum-x x8 xrel0 x8) (sum-x x8 xrel1 x9) (sum-x x9 xrel-1 x8) (sum-x x9 xrel0 x9) (sum-x x9 xrel1 x10) (sum-x x10 xrel-1 x9) (sum-x x10 xrel0 x10) (sum-x x10 xrel1 x11) (sum-x x11 xrel-1 x10) (sum-x x11 xrel0 x11) (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) (sum-y y4 yrel1 y5) (sum-y y5 yrel-1 y4) (sum-y y5 yrel0 y5) (sum-y y5 yrel1 y6) (sum-y y6 yrel-1 y5) (sum-y y6 yrel0 y6) (sum-y y6 yrel1 y7) (sum-y y7 yrel-1 y6) (sum-y y7 yrel0 y7) (sum-y y7 yrel1 y8) (sum-y y8 yrel-1 y7) (sum-y y8 yrel0 y8) (sum-y y8 yrel1 y9) (sum-y y9 yrel-1 y8) (sum-y y9 yrel0 y9) (sum-y y9 yrel1 y10) (sum-y y10 yrel-1 y9) (sum-y y10 yrel0 y10) (sum-y y10 yrel1 y11) (sum-y y11 yrel-1 y10) (sum-y y11 yrel0 y11) (zerox-rel xrel0) (zeroy-rel yrel0) (object-goal object0 x6 y2) (object-goal object0 x1 y3) (object-goal object1 x6 y3) (object-goal object1 x1 y3) (object-goal object2 x7 y2) (object-goal object3 x7 y3) (object-goal object4 x7 y7) (object-goal object5 x7 y8) (object-goal object6 x8 y7) (object-goal object7 x8 y8) (object-goal object7 x3 y3) (object-goal object8 x2 y7) (object-goal object9 x2 y8) (object-goal object10 x3 y7) (object-goal object11 x3 y8) (parked pr2) (not-pushing pr2) (base-pos pr2 x0 y0) (base-obstacle x0 y0) (base-obstacle x2 y1)(surface x2 y1) (base-obstacle x1 y3)(surface x1 y3) (base-obstacle x1 y4)(surface x1 y4) (base-obstacle x3 y3)(surface x3 y3) (base-obstacle x3 y4)(surface x3 y4) (base-obstacle x5 y1)(gripper-obstacle x5 y1) (base-obstacle x5 y2)(gripper-obstacle x5 y2) (base-obstacle x5 y3)(gripper-obstacle x5 y3) (base-obstacle x5 y4)(gripper-obstacle x5 y4) (base-obstacle x6 y4)(gripper-obstacle x6 y4) (base-obstacle x7 y4)(gripper-obstacle x7 y4) (base-obstacle x8 y1)(gripper-obstacle x8 y1) (base-obstacle x8 y2)(gripper-obstacle x8 y2) (base-obstacle x8 y3)(gripper-obstacle x8 y3) (base-obstacle x8 y4)(gripper-obstacle x8 y4) (base-obstacle x6 y6)(gripper-obstacle x6 y6) (base-obstacle x6 y9)(gripper-obstacle x6 y9) (base-obstacle x7 y6)(gripper-obstacle x7 y6) (base-obstacle x7 y9)(gripper-obstacle x7 y9) (base-obstacle x8 y6)(gripper-obstacle x8 y6) (base-obstacle x8 y9)(gripper-obstacle x8 y9) (base-obstacle x9 y6)(gripper-obstacle x9 y6) (base-obstacle x9 y7)(gripper-obstacle x9 y7) (base-obstacle x9 y8)(gripper-obstacle x9 y8) (base-obstacle x9 y9)(gripper-obstacle x9 y9) (base-obstacle x1 y6)(gripper-obstacle x1 y6) (base-obstacle x1 y7)(gripper-obstacle x1 y7) (base-obstacle x1 y8)(gripper-obstacle x1 y8) (base-obstacle x1 y9)(gripper-obstacle x1 y9) (base-obstacle x2 y9)(gripper-obstacle x2 y9) (base-obstacle x3 y9)(gripper-obstacle x3 y9) (base-obstacle x4 y6)(gripper-obstacle x4 y6) (base-obstacle x4 y7)(gripper-obstacle x4 y7) (base-obstacle x4 y8)(gripper-obstacle x4 y8) (base-obstacle x4 y9)(gripper-obstacle x4 y9) (surface x6 y2) (surface x6 y3) (surface x7 y2) (surface x7 y3) (surface x7 y7) (surface x7 y8) (surface x8 y7) (surface x8 y8) (surface x2 y7) (surface x2 y8) (surface x3 y7) (surface x3 y8) (cart-pos cart x0 y1) (not-pushed cart) (base-obstacle x0 y1) (object-pos object0 x8 y7) (object-pos object1 x7 y2) (object-pos object2 x2 y1) (object-pos object3 x7 y3) (object-pos object4 x2 y7) (object-pos object5 x8 y8) (object-pos object6 x7 y8) (object-pos object7 x6 y3) (object-pos object8 x7 y7) (object-pos object9 x3 y7) (object-pos object10 x1 y4) (object-pos object11 x1 y3) (gripper-empty pr2) (gripper-rel pr2 xrel0 yrel0) (gripper-obstacle x8 y7) (gripper-obstacle x7 y2) (gripper-obstacle x2 y1) (gripper-obstacle x7 y3) (gripper-obstacle x2 y7) (gripper-obstacle x8 y8) (gripper-obstacle x7 y8) (gripper-obstacle x6 y3) (gripper-obstacle x7 y7) (gripper-obstacle x3 y7) (gripper-obstacle x1 y4) (gripper-obstacle x1 y3) ) (:goal (and (object-done object0) (object-done object1) (object-done object2) (object-done object3) (object-done object4) (object-done object5) (object-done object6) (object-done object7) (object-done object8) (object-done object9) (object-done object10) (object-done object11) )))