# FORMAT:
# (Variable variable_id symbol+ component)
# (Constraint type variable_id variable_id [lb,ub]*)
# please see the AllenIntervalConstraint Javadoc entry for more info on constraint types and bounds

# Each MiR does two things: goto_ur and goto_delivery
# The UR does one thing: place_obj onto a MiR
# There are two MiR components (MiR_1 and MiR_2) and one UR component
(Variable v1 goto_ur MiR_1)
(Variable v2 goto_delivery MiR_1) 
(Variable v3 goto_ur MiR_2)
(Variable v4 goto_delivery MiR_2) 
(Variable v5 place_obj_mir_1 UR)
(Variable v6 place_obj_mir_2 UR)

# All activities have a min duration of 4 sec and unbounded max duration
(Constraint Duration v1 v1 [4000,INF])
(Constraint Duration v2 v2 [4000,INF])
(Constraint Duration v3 v3 [4000,INF])
(Constraint Duration v4 v4 [4000,INF])
(Constraint Duration v5 v5 [4000,INF])
(Constraint Duration v6 v6 [4000,INF])

# MiR_1 and MiR_2 have to be finished with goto_ur before UR starts palce_obj  
(Constraint Before v1 v5)
(Constraint Before v3 v6)

# UR has to have finished place_obj before MiR can start goto_delivery
(Constraint Before v5 v2)
(Constraint Before v6 v4)
