(:trajectory

(:state (at_robot loc_x2_y2) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y0 loc_x2_y0) (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_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_x1_y3) (connected loc_x2_y0 loc_x1_y0) (connected loc_x2_y0 loc_x2_y1) (connected loc_x2_y0 loc_x3_y0) (connected loc_x2_y1 loc_x1_y1) (connected loc_x2_y1 loc_x2_y0) (connected loc_x2_y1 loc_x2_y2) (connected loc_x2_y1 loc_x3_y1) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y1) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y0 loc_x2_y0) (connected loc_x3_y0 loc_x3_y1) (connected loc_x3_y1 loc_x2_y1) (connected loc_x3_y1 loc_x3_y0) (connected loc_x3_y1 loc_x4_y1) (connected loc_x4_y1 loc_x3_y1) (visited loc_x2_y2))

(:action (move loc_x2_y2 loc_x1_y2))

(:state (at_robot loc_x1_y2) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y0 loc_x2_y0) (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_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_x1_y3) (connected loc_x2_y0 loc_x1_y0) (connected loc_x2_y0 loc_x2_y1) (connected loc_x2_y0 loc_x3_y0) (connected loc_x2_y1 loc_x1_y1) (connected loc_x2_y1 loc_x2_y0) (connected loc_x2_y1 loc_x2_y2) (connected loc_x2_y1 loc_x3_y1) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y1) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y0 loc_x2_y0) (connected loc_x3_y0 loc_x3_y1) (connected loc_x3_y1 loc_x2_y1) (connected loc_x3_y1 loc_x3_y0) (connected loc_x3_y1 loc_x4_y1) (connected loc_x4_y1 loc_x3_y1) (visited loc_x1_y2) (visited loc_x2_y2))

(:action (move loc_x1_y2 loc_x1_y1))

(:state (at_robot loc_x1_y1) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y0 loc_x2_y0) (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_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_x1_y3) (connected loc_x2_y0 loc_x1_y0) (connected loc_x2_y0 loc_x2_y1) (connected loc_x2_y0 loc_x3_y0) (connected loc_x2_y1 loc_x1_y1) (connected loc_x2_y1 loc_x2_y0) (connected loc_x2_y1 loc_x2_y2) (connected loc_x2_y1 loc_x3_y1) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y1) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y0 loc_x2_y0) (connected loc_x3_y0 loc_x3_y1) (connected loc_x3_y1 loc_x2_y1) (connected loc_x3_y1 loc_x3_y0) (connected loc_x3_y1 loc_x4_y1) (connected loc_x4_y1 loc_x3_y1) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y2))

(:action (move loc_x1_y1 loc_x1_y2))

(:state (at_robot loc_x1_y2) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y0 loc_x2_y0) (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_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_x1_y3) (connected loc_x2_y0 loc_x1_y0) (connected loc_x2_y0 loc_x2_y1) (connected loc_x2_y0 loc_x3_y0) (connected loc_x2_y1 loc_x1_y1) (connected loc_x2_y1 loc_x2_y0) (connected loc_x2_y1 loc_x2_y2) (connected loc_x2_y1 loc_x3_y1) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y1) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y0 loc_x2_y0) (connected loc_x3_y0 loc_x3_y1) (connected loc_x3_y1 loc_x2_y1) (connected loc_x3_y1 loc_x3_y0) (connected loc_x3_y1 loc_x4_y1) (connected loc_x4_y1 loc_x3_y1) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y2))

(:action (move loc_x1_y2 loc_x1_y1))

(:state (at_robot loc_x1_y1) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y0 loc_x2_y0) (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_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_x1_y3) (connected loc_x2_y0 loc_x1_y0) (connected loc_x2_y0 loc_x2_y1) (connected loc_x2_y0 loc_x3_y0) (connected loc_x2_y1 loc_x1_y1) (connected loc_x2_y1 loc_x2_y0) (connected loc_x2_y1 loc_x2_y2) (connected loc_x2_y1 loc_x3_y1) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y1) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y0 loc_x2_y0) (connected loc_x3_y0 loc_x3_y1) (connected loc_x3_y1 loc_x2_y1) (connected loc_x3_y1 loc_x3_y0) (connected loc_x3_y1 loc_x4_y1) (connected loc_x4_y1 loc_x3_y1) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y2))

(:action (move loc_x1_y1 loc_x2_y1))

(:state (at_robot loc_x2_y1) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y0 loc_x2_y0) (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_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_x1_y3) (connected loc_x2_y0 loc_x1_y0) (connected loc_x2_y0 loc_x2_y1) (connected loc_x2_y0 loc_x3_y0) (connected loc_x2_y1 loc_x1_y1) (connected loc_x2_y1 loc_x2_y0) (connected loc_x2_y1 loc_x2_y2) (connected loc_x2_y1 loc_x3_y1) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y1) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y0 loc_x2_y0) (connected loc_x3_y0 loc_x3_y1) (connected loc_x3_y1 loc_x2_y1) (connected loc_x3_y1 loc_x3_y0) (connected loc_x3_y1 loc_x4_y1) (connected loc_x4_y1 loc_x3_y1) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y1) (visited loc_x2_y2))

(:action (move loc_x2_y1 loc_x3_y1))

(:state (at_robot loc_x3_y1) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y0 loc_x2_y0) (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_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_x1_y3) (connected loc_x2_y0 loc_x1_y0) (connected loc_x2_y0 loc_x2_y1) (connected loc_x2_y0 loc_x3_y0) (connected loc_x2_y1 loc_x1_y1) (connected loc_x2_y1 loc_x2_y0) (connected loc_x2_y1 loc_x2_y2) (connected loc_x2_y1 loc_x3_y1) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y1) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y0 loc_x2_y0) (connected loc_x3_y0 loc_x3_y1) (connected loc_x3_y1 loc_x2_y1) (connected loc_x3_y1 loc_x3_y0) (connected loc_x3_y1 loc_x4_y1) (connected loc_x4_y1 loc_x3_y1) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y1) (visited loc_x2_y2) (visited loc_x3_y1))

(:action (move loc_x3_y1 loc_x2_y1))

(:state (at_robot loc_x2_y1) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y0 loc_x2_y0) (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_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_x1_y3) (connected loc_x2_y0 loc_x1_y0) (connected loc_x2_y0 loc_x2_y1) (connected loc_x2_y0 loc_x3_y0) (connected loc_x2_y1 loc_x1_y1) (connected loc_x2_y1 loc_x2_y0) (connected loc_x2_y1 loc_x2_y2) (connected loc_x2_y1 loc_x3_y1) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y1) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y0 loc_x2_y0) (connected loc_x3_y0 loc_x3_y1) (connected loc_x3_y1 loc_x2_y1) (connected loc_x3_y1 loc_x3_y0) (connected loc_x3_y1 loc_x4_y1) (connected loc_x4_y1 loc_x3_y1) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y1) (visited loc_x2_y2) (visited loc_x3_y1))

(:action (move loc_x2_y1 loc_x2_y0))

(:state (at_robot loc_x2_y0) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y0 loc_x2_y0) (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_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_x1_y3) (connected loc_x2_y0 loc_x1_y0) (connected loc_x2_y0 loc_x2_y1) (connected loc_x2_y0 loc_x3_y0) (connected loc_x2_y1 loc_x1_y1) (connected loc_x2_y1 loc_x2_y0) (connected loc_x2_y1 loc_x2_y2) (connected loc_x2_y1 loc_x3_y1) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y1) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y0 loc_x2_y0) (connected loc_x3_y0 loc_x3_y1) (connected loc_x3_y1 loc_x2_y1) (connected loc_x3_y1 loc_x3_y0) (connected loc_x3_y1 loc_x4_y1) (connected loc_x4_y1 loc_x3_y1) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y0) (visited loc_x2_y1) (visited loc_x2_y2) (visited loc_x3_y1))

(:action (move loc_x2_y0 loc_x1_y0))

(:state (at_robot loc_x1_y0) (connected loc_x1_y0 loc_x1_y1) (connected loc_x1_y0 loc_x2_y0) (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_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_x1_y3) (connected loc_x2_y0 loc_x1_y0) (connected loc_x2_y0 loc_x2_y1) (connected loc_x2_y0 loc_x3_y0) (connected loc_x2_y1 loc_x1_y1) (connected loc_x2_y1 loc_x2_y0) (connected loc_x2_y1 loc_x2_y2) (connected loc_x2_y1 loc_x3_y1) (connected loc_x2_y2 loc_x1_y2) (connected loc_x2_y2 loc_x2_y1) (connected loc_x2_y2 loc_x2_y3) (connected loc_x2_y3 loc_x1_y3) (connected loc_x2_y3 loc_x2_y2) (connected loc_x3_y0 loc_x2_y0) (connected loc_x3_y0 loc_x3_y1) (connected loc_x3_y1 loc_x2_y1) (connected loc_x3_y1 loc_x3_y0) (connected loc_x3_y1 loc_x4_y1) (connected loc_x4_y1 loc_x3_y1) (visited loc_x1_y0) (visited loc_x1_y1) (visited loc_x1_y2) (visited loc_x2_y0) (visited loc_x2_y1) (visited loc_x2_y2) (visited loc_x3_y1))

)