(:trajectory

(:state (at_robot loc_x0_y2) (connected loc_x0_y1 loc_x0_y2) (connected loc_x0_y2 loc_x0_y1) (connected loc_x0_y2 loc_x1_y2) (connected loc_x0_y4 loc_x1_y4) (connected loc_x1_y2 loc_x0_y2) (connected loc_x1_y2 loc_x1_y3) (connected loc_x1_y2 loc_x2_y2) (connected loc_x1_y3 loc_x1_y2) (connected loc_x1_y3 loc_x1_y4) (connected loc_x1_y3 loc_x2_y3) (connected loc_x1_y4 loc_x0_y4) (connected loc_x1_y4 loc_x1_y3) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y2 loc_x3_y2) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y2 loc_x2_y2) (visited loc_x0_y2))

(:action (move loc_x0_y2 loc_x1_y2))

(:state (at_robot loc_x1_y2) (connected loc_x0_y1 loc_x0_y2) (connected loc_x0_y2 loc_x0_y1) (connected loc_x0_y2 loc_x1_y2) (connected loc_x0_y4 loc_x1_y4) (connected loc_x1_y2 loc_x0_y2) (connected loc_x1_y2 loc_x1_y3) (connected loc_x1_y2 loc_x2_y2) (connected loc_x1_y3 loc_x1_y2) (connected loc_x1_y3 loc_x1_y4) (connected loc_x1_y3 loc_x2_y3) (connected loc_x1_y4 loc_x0_y4) (connected loc_x1_y4 loc_x1_y3) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y2 loc_x3_y2) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y2 loc_x2_y2) (visited loc_x0_y2) (visited loc_x1_y2))

(:action (move loc_x1_y2 loc_x1_y3))

(:state (at_robot loc_x1_y3) (connected loc_x0_y1 loc_x0_y2) (connected loc_x0_y2 loc_x0_y1) (connected loc_x0_y2 loc_x1_y2) (connected loc_x0_y4 loc_x1_y4) (connected loc_x1_y2 loc_x0_y2) (connected loc_x1_y2 loc_x1_y3) (connected loc_x1_y2 loc_x2_y2) (connected loc_x1_y3 loc_x1_y2) (connected loc_x1_y3 loc_x1_y4) (connected loc_x1_y3 loc_x2_y3) (connected loc_x1_y4 loc_x0_y4) (connected loc_x1_y4 loc_x1_y3) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y2 loc_x3_y2) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y2 loc_x2_y2) (visited loc_x0_y2) (visited loc_x1_y2) (visited loc_x1_y3))

(:action (move loc_x1_y3 loc_x2_y3))

(:state (at_robot loc_x2_y3) (connected loc_x0_y1 loc_x0_y2) (connected loc_x0_y2 loc_x0_y1) (connected loc_x0_y2 loc_x1_y2) (connected loc_x0_y4 loc_x1_y4) (connected loc_x1_y2 loc_x0_y2) (connected loc_x1_y2 loc_x1_y3) (connected loc_x1_y2 loc_x2_y2) (connected loc_x1_y3 loc_x1_y2) (connected loc_x1_y3 loc_x1_y4) (connected loc_x1_y3 loc_x2_y3) (connected loc_x1_y4 loc_x0_y4) (connected loc_x1_y4 loc_x1_y3) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y2 loc_x3_y2) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y2 loc_x2_y2) (visited loc_x0_y2) (visited loc_x1_y2) (visited loc_x1_y3) (visited loc_x2_y3))

(:action (move loc_x2_y3 loc_x2_y2))

(:state (at_robot loc_x2_y2) (connected loc_x0_y1 loc_x0_y2) (connected loc_x0_y2 loc_x0_y1) (connected loc_x0_y2 loc_x1_y2) (connected loc_x0_y4 loc_x1_y4) (connected loc_x1_y2 loc_x0_y2) (connected loc_x1_y2 loc_x1_y3) (connected loc_x1_y2 loc_x2_y2) (connected loc_x1_y3 loc_x1_y2) (connected loc_x1_y3 loc_x1_y4) (connected loc_x1_y3 loc_x2_y3) (connected loc_x1_y4 loc_x0_y4) (connected loc_x1_y4 loc_x1_y3) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y2 loc_x3_y2) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y2 loc_x2_y2) (visited loc_x0_y2) (visited loc_x1_y2) (visited loc_x1_y3) (visited loc_x2_y2) (visited loc_x2_y3))

(:action (move loc_x2_y2 loc_x3_y2))

(:state (at_robot loc_x3_y2) (connected loc_x0_y1 loc_x0_y2) (connected loc_x0_y2 loc_x0_y1) (connected loc_x0_y2 loc_x1_y2) (connected loc_x0_y4 loc_x1_y4) (connected loc_x1_y2 loc_x0_y2) (connected loc_x1_y2 loc_x1_y3) (connected loc_x1_y2 loc_x2_y2) (connected loc_x1_y3 loc_x1_y2) (connected loc_x1_y3 loc_x1_y4) (connected loc_x1_y3 loc_x2_y3) (connected loc_x1_y4 loc_x0_y4) (connected loc_x1_y4 loc_x1_y3) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y2 loc_x3_y2) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y2 loc_x2_y2) (visited loc_x0_y2) (visited loc_x1_y2) (visited loc_x1_y3) (visited loc_x2_y2) (visited loc_x2_y3) (visited loc_x3_y2))

)