(:trajectory

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(:action (move loc_x1_y2 loc_x1_y1))

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(:action (move loc_x1_y1 loc_x1_y2))

(:state (at_robot loc_x1_y2) (connected loc_x0_y0 loc_x0_y1) (connected loc_x0_y0 loc_x1_y0) (connected loc_x0_y1 loc_x0_y0) (connected loc_x0_y1 loc_x1_y1) (connected loc_x1_y0 loc_x0_y0) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y1 loc_x0_y1) (connected loc_x1_y1 loc_x1_y0) (connected loc_x1_y1 loc_x1_y2) (connected loc_x1_y1 loc_x2_y1) (connected loc_x1_y2 loc_x1_y1) (connected loc_x2_y1 loc_x1_y1) (visited loc_x1_y1) (visited loc_x1_y2))

(:action (move loc_x1_y2 loc_x1_y1))

(:state (at_robot loc_x1_y1) (connected loc_x0_y0 loc_x0_y1) (connected loc_x0_y0 loc_x1_y0) (connected loc_x0_y1 loc_x0_y0) (connected loc_x0_y1 loc_x1_y1) (connected loc_x1_y0 loc_x0_y0) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y1 loc_x0_y1) (connected loc_x1_y1 loc_x1_y0) (connected loc_x1_y1 loc_x1_y2) (connected loc_x1_y1 loc_x2_y1) (connected loc_x1_y2 loc_x1_y1) (connected loc_x2_y1 loc_x1_y1) (visited loc_x1_y1) (visited loc_x1_y2))

(:action (move loc_x1_y1 loc_x2_y1))

(:state (at_robot loc_x2_y1) (connected loc_x0_y0 loc_x0_y1) (connected loc_x0_y0 loc_x1_y0) (connected loc_x0_y1 loc_x0_y0) (connected loc_x0_y1 loc_x1_y1) (connected loc_x1_y0 loc_x0_y0) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y1 loc_x0_y1) (connected loc_x1_y1 loc_x1_y0) (connected loc_x1_y1 loc_x1_y2) (connected loc_x1_y1 loc_x2_y1) (connected loc_x1_y2 loc_x1_y1) (connected loc_x2_y1 loc_x1_y1) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y1))

(:action (move loc_x2_y1 loc_x1_y1))

(:state (at_robot loc_x1_y1) (connected loc_x0_y0 loc_x0_y1) (connected loc_x0_y0 loc_x1_y0) (connected loc_x0_y1 loc_x0_y0) (connected loc_x0_y1 loc_x1_y1) (connected loc_x1_y0 loc_x0_y0) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y1 loc_x0_y1) (connected loc_x1_y1 loc_x1_y0) (connected loc_x1_y1 loc_x1_y2) (connected loc_x1_y1 loc_x2_y1) (connected loc_x1_y2 loc_x1_y1) (connected loc_x2_y1 loc_x1_y1) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y1))

(:action (move loc_x1_y1 loc_x0_y1))

(:state (at_robot loc_x0_y1) (connected loc_x0_y0 loc_x0_y1) (connected loc_x0_y0 loc_x1_y0) (connected loc_x0_y1 loc_x0_y0) (connected loc_x0_y1 loc_x1_y1) (connected loc_x1_y0 loc_x0_y0) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y1 loc_x0_y1) (connected loc_x1_y1 loc_x1_y0) (connected loc_x1_y1 loc_x1_y2) (connected loc_x1_y1 loc_x2_y1) (connected loc_x1_y2 loc_x1_y1) (connected loc_x2_y1 loc_x1_y1) (visited loc_x0_y1) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y1))

(:action (move loc_x0_y1 loc_x0_y0))

(:state (at_robot loc_x0_y0) (connected loc_x0_y0 loc_x0_y1) (connected loc_x0_y0 loc_x1_y0) (connected loc_x0_y1 loc_x0_y0) (connected loc_x0_y1 loc_x1_y1) (connected loc_x1_y0 loc_x0_y0) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y1 loc_x0_y1) (connected loc_x1_y1 loc_x1_y0) (connected loc_x1_y1 loc_x1_y2) (connected loc_x1_y1 loc_x2_y1) (connected loc_x1_y2 loc_x1_y1) (connected loc_x2_y1 loc_x1_y1) (visited loc_x0_y0) (visited loc_x0_y1) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y1))

(:action (move loc_x0_y0 loc_x1_y0))

(:state (at_robot loc_x1_y0) (connected loc_x0_y0 loc_x0_y1) (connected loc_x0_y0 loc_x1_y0) (connected loc_x0_y1 loc_x0_y0) (connected loc_x0_y1 loc_x1_y1) (connected loc_x1_y0 loc_x0_y0) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y1 loc_x0_y1) (connected loc_x1_y1 loc_x1_y0) (connected loc_x1_y1 loc_x1_y2) (connected loc_x1_y1 loc_x2_y1) (connected loc_x1_y2 loc_x1_y1) (connected loc_x2_y1 loc_x1_y1) (visited loc_x0_y0) (visited loc_x0_y1) (visited loc_x1_y0) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y1))

)