; Number of problems: 25 
; Number of blocks: 5 
; Number of goals: 2 
(setq *TEST-PROBS* '(

(ST-1 (and (inroom b rpdp) (holding d))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot b) (unlocked dclkril) (dr-closed dclkril)
  (unlocked dpdpclk) (dr-closed dpdpclk) (unlocked dramclk)
  (dr-closed dramclk) (unlocked dmyspdp) (dr-open dmyspdp)
  (dr-closed dramhal) (locked dramhal) (unlocked dmysram)
  (dr-closed dmysram) (unlocked dunimys) (dr-open dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable d)
  (carriable b) (pushable c) (pushable b) (is-object clkril-key)
  (is-object pdpclk-key) (is-object ramclk-key)
  (is-object myspdp-key) (is-object ramhal-key)
  (is-object mysram-key) (is-object unimys-key) (is-object e)(is-box e)
  (is-object d)(is-box d) (is-object c)(is-box c) (is-object b)(is-box b) (is-object a)(is-box a)
  (inroom e rpdp) (inroom d rmys) (inroom c rhal) (inroom b rpdp)
  (inroom a runi) (inroom clkril-key rril) (inroom pdpclk-key rmys)
  (inroom ramclk-key runi) (inroom myspdp-key rril)
  (inroom ramhal-key rhal) (inroom mysram-key rclk)
  (inroom unimys-key rmys) (inroom robot rpdp) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-2 (and (dr-closed dramclk) (inroom e rpdp))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot e) (dr-closed dclkril) (locked dclkril)
  (unlocked dpdpclk) (dr-closed dpdpclk) (unlocked dramclk)
  (dr-open dramclk) (unlocked dmyspdp) (dr-closed dmyspdp)
  (unlocked dramhal) (dr-closed dramhal) (unlocked dmysram)
  (dr-open dmysram) (dr-closed dunimys) (locked dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable b)
  (carriable a) (pushable e) (pushable c) (pushable b)
  (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e rmys) (inroom d rram)
  (inroom c rril) (inroom b rhal) (inroom a rclk)
  (inroom clkril-key rpdp) (inroom pdpclk-key rmys)
  (inroom ramclk-key rhal) (inroom myspdp-key rclk)
  (inroom ramhal-key rpdp) (inroom mysram-key rclk)
  (inroom unimys-key rril) (inroom robot rmys) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-3 (and (inroom c rclk) (unlocked dramclk))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to a e) (next-to d a) (unlocked dclkril) (dr-open dclkril)
  (dr-closed dpdpclk) (locked dpdpclk) (dr-closed dramclk)
  (locked dramclk) (unlocked dmyspdp) (dr-closed dmyspdp)
  (unlocked dramhal) (dr-closed dramhal) (unlocked dmysram)
  (dr-open dmysram) (dr-closed dunimys) (locked dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable c)
  (carriable b) (pushable d) (pushable c) (pushable b)
  (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e runi) (inroom d runi)
  (inroom c rmys) (inroom b rclk) (inroom a runi)
  (inroom clkril-key rram) (inroom pdpclk-key rram)
  (inroom ramclk-key rpdp) (inroom myspdp-key rram)
  (inroom ramhal-key rpdp) (inroom mysram-key rpdp)
  (inroom unimys-key rpdp) (inroom robot rpdp) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-4 (and (inroom e rril) (holding c))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to a b) (next-to d c) (unlocked dclkril) (dr-closed dclkril)
  (dr-closed dpdpclk) (locked dpdpclk) (unlocked dramclk)
  (dr-closed dramclk) (unlocked dmyspdp) (dr-open dmyspdp)
  (dr-closed dramhal) (locked dramhal) (dr-closed dmysram)
  (locked dmysram) (unlocked dunimys) (dr-closed dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable d)
  (carriable c) (carriable a) (pushable e) (pushable c)
  (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e rpdp) (inroom d runi)
  (inroom c runi) (inroom b rpdp) (inroom a rpdp)
  (inroom clkril-key rril) (inroom pdpclk-key runi)
  (inroom ramclk-key rpdp) (inroom myspdp-key rram)
  (inroom ramhal-key rhal) (inroom mysram-key rpdp)
  (inroom unimys-key rram) (inroom robot rmys) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-5 (and (inroom ramclk-key rpdp) (holding d))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot e) (next-to b a) (next-to c d) (unlocked dclkril)
  (dr-closed dclkril) (unlocked dpdpclk) (dr-open dpdpclk)
  (unlocked dramclk) (dr-closed dramclk) (dr-closed dmyspdp)
  (locked dmyspdp) (dr-closed dramhal) (locked dramhal)
  (unlocked dmysram) (dr-open dmysram) (unlocked dunimys)
  (dr-closed dunimys) (is-room rril) (is-room rclk) (is-room rpdp)
  (is-room rhal) (is-room rram) (is-room rmys) (is-room runi)
  (is-door dclkril) (is-door dpdpclk) (is-door dramclk)
  (is-door dmyspdp) (is-door dramhal) (is-door dmysram)
  (is-door dunimys) (carriable c) (pushable e) (pushable b)
  (pushable a) (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e runi) (inroom d rram)
  (inroom c rram) (inroom b rpdp) (inroom a rpdp)
  (inroom clkril-key runi) (inroom pdpclk-key rmys)
  (inroom ramclk-key rram) (inroom myspdp-key rhal)
  (inroom ramhal-key runi) (inroom mysram-key rclk)
  (inroom unimys-key runi) (inroom robot runi) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-6 (and (locked dclkril) (inroom ramhal-key rram))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to c d) (unlocked dclkril) (dr-open dclkril)
  (dr-closed dpdpclk) (locked dpdpclk) (dr-closed dramclk)
  (locked dramclk) (dr-closed dmyspdp) (locked dmyspdp)
  (dr-closed dramhal) (locked dramhal) (unlocked dmysram)
  (dr-open dmysram) (unlocked dunimys) (dr-closed dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable e)
  (pushable c) (pushable a) (is-object clkril-key)
  (is-object pdpclk-key) (is-object ramclk-key)
  (is-object myspdp-key) (is-object ramhal-key)
  (is-object mysram-key) (is-object unimys-key) (is-object e)(is-box e)
  (is-object d)(is-box d) (is-object c)(is-box c) (is-object b)(is-box b) (is-object a)(is-box a)
  (inroom e rhal) (inroom d rmys) (inroom c rmys) (inroom b rram)
  (inroom a runi) (inroom clkril-key rmys) (inroom pdpclk-key rram)
  (inroom ramclk-key rmys) (inroom myspdp-key rclk)
  (inroom ramhal-key runi) (inroom mysram-key rril)
  (inroom unimys-key rmys) (inroom robot rril) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-7 (and (inroom d rhal) (inroom pdpclk-key rmys))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot b) (unlocked dclkril) (dr-open dclkril)
  (unlocked dpdpclk) (dr-closed dpdpclk) (dr-closed dramclk)
  (locked dramclk) (dr-closed dmyspdp) (locked dmyspdp)
  (dr-closed dramhal) (locked dramhal) (dr-closed dmysram)
  (locked dmysram) (dr-closed dunimys) (locked dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable e)
  (carriable d) (carriable c) (pushable e) (pushable c) (pushable b)
  (pushable a) (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e rmys) (inroom d runi)
  (inroom c rril) (inroom b rhal) (inroom a rram)
  (inroom clkril-key runi) (inroom pdpclk-key rram)
  (inroom ramclk-key runi) (inroom myspdp-key rmys)
  (inroom ramhal-key rclk) (inroom mysram-key rmys)
  (inroom unimys-key rhal) (inroom robot rhal) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-8 (and (holding b) (dr-closed dunimys))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to d a) (dr-closed dclkril) (locked dclkril)
  (dr-closed dpdpclk) (locked dpdpclk) (dr-closed dramclk)
  (locked dramclk) (dr-closed dmyspdp) (locked dmyspdp)
  (unlocked dramhal) (dr-open dramhal) (unlocked dmysram)
  (dr-open dmysram) (unlocked dunimys) (dr-open dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable d)
  (carriable c) (carriable b) (pushable e) (pushable d) (pushable c)
  (pushable a) (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e rpdp) (inroom d runi)
  (inroom c rril) (inroom b rclk) (inroom a runi)
  (inroom clkril-key rpdp) (inroom pdpclk-key rram)
  (inroom ramclk-key rclk) (inroom myspdp-key rclk)
  (inroom ramhal-key rmys) (inroom mysram-key rhal)
  (inroom unimys-key runi) (inroom robot rmys) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-9 (and (inroom robot rmys) (next-to robot d))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to a c) (dr-closed dclkril) (locked dclkril)
  (dr-closed dpdpclk) (locked dpdpclk) (unlocked dramclk)
  (dr-open dramclk) (unlocked dmyspdp) (dr-closed dmyspdp)
  (dr-closed dramhal) (locked dramhal) (dr-closed dmysram)
  (locked dmysram) (unlocked dunimys) (dr-closed dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable e)
  (carriable a) (pushable e) (pushable d) (pushable c)
  (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e runi) (inroom d rril)
  (inroom c rmys) (inroom b rram) (inroom a rmys)
  (inroom clkril-key rpdp) (inroom pdpclk-key rclk)
  (inroom ramclk-key rril) (inroom myspdp-key rmys)
  (inroom ramhal-key rclk) (inroom mysram-key rram)
  (inroom unimys-key rril) (inroom robot rpdp) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-10 (and (next-to b d) (inroom e rhal))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot a) (next-to c e) (unlocked dclkril)
  (dr-open dclkril) (unlocked dpdpclk) (dr-open dpdpclk)
  (dr-closed dramclk) (locked dramclk) (unlocked dmyspdp)
  (dr-closed dmyspdp) (unlocked dramhal) (dr-open dramhal)
  (unlocked dmysram) (dr-closed dmysram) (unlocked dunimys)
  (dr-open dunimys) (is-room rril) (is-room rclk) (is-room rpdp)
  (is-room rhal) (is-room rram) (is-room rmys) (is-room runi)
  (is-door dclkril) (is-door dpdpclk) (is-door dramclk)
  (is-door dmyspdp) (is-door dramhal) (is-door dmysram)
  (is-door dunimys) (carriable e) (carriable c) (carriable b)
  (pushable e) (pushable a) (is-object clkril-key)
  (is-object pdpclk-key) (is-object ramclk-key)
  (is-object myspdp-key) (is-object ramhal-key)
  (is-object mysram-key) (is-object unimys-key) (is-object e)(is-box e)
  (is-object d)(is-box d) (is-object c)(is-box c) (is-object b)(is-box b) (is-object a)(is-box a)
  (inroom e runi) (inroom d rpdp) (inroom c runi) (inroom b runi)
  (inroom a rram) (inroom clkril-key rmys) (inroom pdpclk-key runi)
  (inroom ramclk-key rclk) (inroom myspdp-key rmys)
  (inroom ramhal-key rclk) (inroom mysram-key rhal)
  (inroom unimys-key rpdp) (inroom robot rram) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-11 (and (arm-empty) (inroom ramhal-key rclk))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot a) (dr-closed dclkril) (locked dclkril)
  (unlocked dpdpclk) (dr-closed dpdpclk) (unlocked dramclk)
  (dr-open dramclk) (unlocked dmyspdp) (dr-closed dmyspdp)
  (unlocked dramhal) (dr-open dramhal) (unlocked dmysram)
  (dr-open dmysram) (unlocked dunimys) (dr-closed dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable d)
  (carriable b) (pushable d) (pushable a) (is-object clkril-key)
  (is-object pdpclk-key) (is-object ramclk-key)
  (is-object myspdp-key) (is-object ramhal-key)
  (is-object mysram-key) (is-object unimys-key) (is-object e)(is-box e)
  (is-object d)(is-box d) (is-object c)(is-box c) (is-object b)(is-box b) (is-object a)(is-box a)
  (inroom e rram) (inroom d rril) (inroom c rram) (inroom b rclk)
  (inroom a rpdp) (inroom clkril-key rpdp) (inroom pdpclk-key rclk)
  (inroom ramclk-key rril) (inroom myspdp-key rmys)
  (inroom ramhal-key rram) (inroom mysram-key rram)
  (inroom unimys-key rpdp) (inroom robot rpdp) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-12 (and (inroom ramhal-key rclk) (next-to b e))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot b) (next-to c b) (unlocked dclkril)
  (dr-open dclkril) (dr-closed dpdpclk) (locked dpdpclk)
  (dr-closed dramclk) (locked dramclk) (dr-closed dmyspdp)
  (locked dmyspdp) (unlocked dramhal) (dr-open dramhal)
  (unlocked dmysram) (dr-open dmysram) (unlocked dunimys)
  (dr-open dunimys) (is-room rril) (is-room rclk) (is-room rpdp)
  (is-room rhal) (is-room rram) (is-room rmys) (is-room runi)
  (is-door dclkril) (is-door dpdpclk) (is-door dramclk)
  (is-door dmyspdp) (is-door dramhal) (is-door dmysram)
  (is-door dunimys) (carriable e) (carriable b) (pushable c)
  (pushable a) (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e rclk) (inroom d rram)
  (inroom c rpdp) (inroom b rpdp) (inroom a rril)
  (inroom clkril-key rram) (inroom pdpclk-key rpdp)
  (inroom ramclk-key rclk) (inroom myspdp-key runi)
  (inroom ramhal-key rpdp) (inroom mysram-key rril)
  (inroom unimys-key runi) (inroom robot rpdp) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-13 (and (inroom c rpdp) (inroom b rclk))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot b) (next-to a d) (next-to e c) (unlocked dclkril)
  (dr-open dclkril) (dr-closed dpdpclk) (locked dpdpclk)
  (dr-closed dramclk) (locked dramclk) (dr-closed dmyspdp)
  (locked dmyspdp) (unlocked dramhal) (dr-open dramhal)
  (unlocked dmysram) (dr-closed dmysram) (dr-closed dunimys)
  (locked dunimys) (is-room rril) (is-room rclk) (is-room rpdp)
  (is-room rhal) (is-room rram) (is-room rmys) (is-room runi)
  (is-door dclkril) (is-door dpdpclk) (is-door dramclk)
  (is-door dmyspdp) (is-door dramhal) (is-door dmysram)
  (is-door dunimys) (carriable d) (carriable c) (pushable d)
  (pushable c) (pushable b) (is-object clkril-key)
  (is-object pdpclk-key) (is-object ramclk-key)
  (is-object myspdp-key) (is-object ramhal-key)
  (is-object mysram-key) (is-object unimys-key) (is-object e)(is-box e)
  (is-object d)(is-box d) (is-object c)(is-box c) (is-object b)(is-box b) (is-object a)(is-box a)
  (inroom e rmys) (inroom d rram) (inroom c rmys) (inroom b rril)
  (inroom a rram) (inroom clkril-key runi) (inroom pdpclk-key rpdp)
  (inroom ramclk-key rhal) (inroom myspdp-key rpdp)
  (inroom ramhal-key rram) (inroom mysram-key rclk)
  (inroom unimys-key rril) (inroom robot rril) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-14 (and (inroom e runi) (dr-open dmyspdp))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot b) (unlocked dclkril) (dr-closed dclkril)
  (unlocked dpdpclk) (dr-closed dpdpclk) (unlocked dramclk)
  (dr-closed dramclk) (dr-closed dmyspdp) (locked dmyspdp)
  (unlocked dramhal) (dr-open dramhal) (unlocked dmysram)
  (dr-open dmysram) (dr-closed dunimys) (locked dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable e)
  (pushable b) (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e rril) (inroom d runi)
  (inroom c rpdp) (inroom b rclk) (inroom a rmys)
  (inroom clkril-key rhal) (inroom pdpclk-key rclk)
  (inroom ramclk-key rhal) (inroom myspdp-key rpdp)
  (inroom ramhal-key rmys) (inroom mysram-key rclk)
  (inroom unimys-key rril) (inroom robot rclk) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-15 (and (inroom robot rram) (inroom a rhal))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to b c) (unlocked dclkril) (dr-closed dclkril)
  (unlocked dpdpclk) (dr-open dpdpclk) (unlocked dramclk)
  (dr-open dramclk) (unlocked dmyspdp) (dr-closed dmyspdp)
  (unlocked dramhal) (dr-closed dramhal) (unlocked dmysram)
  (dr-closed dmysram) (dr-closed dunimys) (locked dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable c)
  (carriable b) (carriable a) (pushable d) (pushable c)
  (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e runi) (inroom d rram)
  (inroom c rril) (inroom b rril) (inroom a rril)
  (inroom clkril-key rmys) (inroom pdpclk-key rril)
  (inroom ramclk-key runi) (inroom myspdp-key runi)
  (inroom ramhal-key rclk) (inroom mysram-key rpdp)
  (inroom unimys-key rhal) (inroom robot rhal) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-16 (and (unlocked dmysram) (inroom robot rmys))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to a e) (dr-closed dclkril) (locked dclkril)
  (dr-closed dpdpclk) (locked dpdpclk) (unlocked dramclk)
  (dr-open dramclk) (unlocked dmyspdp) (dr-closed dmyspdp)
  (unlocked dramhal) (dr-open dramhal) (unlocked dmysram)
  (dr-closed dmysram) (unlocked dunimys) (dr-closed dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable d)
  (carriable a) (pushable b) (pushable a) (is-object clkril-key)
  (is-object pdpclk-key) (is-object ramclk-key)
  (is-object myspdp-key) (is-object ramhal-key)
  (is-object mysram-key) (is-object unimys-key) (is-object e)(is-box e)
  (is-object d)(is-box d) (is-object c)(is-box c) (is-object b)(is-box b) (is-object a)(is-box a)
  (inroom e runi) (inroom d rril) (inroom c rmys) (inroom b rmys)
  (inroom a runi) (inroom clkril-key rril) (inroom pdpclk-key rclk)
  (inroom ramclk-key rmys) (inroom myspdp-key rram)
  (inroom ramhal-key rram) (inroom mysram-key rram)
  (inroom unimys-key rpdp) (inroom robot rhal) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-17 (and (inroom mysram-key rhal) (locked dunimys))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to b a) (unlocked dclkril) (dr-closed dclkril)
  (unlocked dpdpclk) (dr-open dpdpclk) (dr-closed dramclk)
  (locked dramclk) (dr-closed dmyspdp) (locked dmyspdp)
  (unlocked dramhal) (dr-open dramhal) (unlocked dmysram)
  (dr-open dmysram) (unlocked dunimys) (dr-open dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable e)
  (carriable d) (carriable c) (carriable a) (is-object clkril-key)
  (is-object pdpclk-key) (is-object ramclk-key)
  (is-object myspdp-key) (is-object ramhal-key)
  (is-object mysram-key) (is-object unimys-key) (is-object e)(is-box e)
  (is-object d)(is-box d) (is-object c)(is-box c) (is-object b)(is-box b) (is-object a)(is-box a)
  (inroom e rclk) (inroom d rril) (inroom c rpdp) (inroom b rram)
  (inroom a rram) (inroom clkril-key rhal) (inroom pdpclk-key runi)
  (inroom ramclk-key runi) (inroom myspdp-key rmys)
  (inroom ramhal-key rhal) (inroom mysram-key rmys)
  (inroom unimys-key rmys) (inroom robot rhal) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-18 (and (inroom a rpdp) (holding d))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot d) (next-to a b) (dr-closed dclkril)
  (locked dclkril) (dr-closed dpdpclk) (locked dpdpclk)
  (unlocked dramclk) (dr-open dramclk) (dr-closed dmyspdp)
  (locked dmyspdp) (unlocked dramhal) (dr-closed dramhal)
  (unlocked dmysram) (dr-open dmysram) (unlocked dunimys)
  (dr-closed dunimys) (is-room rril) (is-room rclk) (is-room rpdp)
  (is-room rhal) (is-room rram) (is-room rmys) (is-room runi)
  (is-door dclkril) (is-door dpdpclk) (is-door dramclk)
  (is-door dmyspdp) (is-door dramhal) (is-door dmysram)
  (is-door dunimys) (carriable e) (carriable b) (carriable a)
  (pushable e) (pushable a) (is-object clkril-key)
  (is-object pdpclk-key) (is-object ramclk-key)
  (is-object myspdp-key) (is-object ramhal-key)
  (is-object mysram-key) (is-object unimys-key) (is-object e)(is-box e)
  (is-object d)(is-box d) (is-object c)(is-box c) (is-object b)(is-box b) (is-object a)(is-box a)
  (inroom e runi) (inroom d rram) (inroom c rhal) (inroom b rclk)
  (inroom a rclk) (inroom clkril-key rram) (inroom pdpclk-key rmys)
  (inroom ramclk-key rram) (inroom myspdp-key rram)
  (inroom ramhal-key runi) (inroom mysram-key rhal)
  (inroom unimys-key rram) (inroom robot rram) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-19 (and (holding unimys-key) (dr-closed dunimys))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to a e) (dr-closed dclkril) (locked dclkril)
  (dr-closed dpdpclk) (locked dpdpclk) (dr-closed dramclk)
  (locked dramclk) (unlocked dmyspdp) (dr-closed dmyspdp)
  (unlocked dramhal) (dr-open dramhal) (dr-closed dmysram)
  (locked dmysram) (dr-closed dunimys) (locked dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable e)
  (carriable b) (pushable d) (pushable a) (is-object clkril-key)
  (is-object pdpclk-key) (is-object ramclk-key)
  (is-object myspdp-key) (is-object ramhal-key)
  (is-object mysram-key) (is-object unimys-key) (is-object e)(is-box e)
  (is-object d)(is-box d) (is-object c)(is-box c) (is-object b)(is-box b) (is-object a)(is-box a)
  (inroom e rhal) (inroom d runi) (inroom c rpdp) (inroom b rram)
  (inroom a rhal) (inroom clkril-key rril) (inroom pdpclk-key rmys)
  (inroom ramclk-key rram) (inroom myspdp-key rhal)
  (inroom ramhal-key rmys) (inroom mysram-key rram)
  (inroom unimys-key rhal) (inroom robot rclk) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-20 (and (inroom mysram-key rclk) (inroom d runi))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot a) (next-to b c) (unlocked dclkril)
  (dr-open dclkril) (unlocked dpdpclk) (dr-open dpdpclk)
  (dr-closed dramclk) (locked dramclk) (unlocked dmyspdp)
  (dr-closed dmyspdp) (unlocked dramhal) (dr-open dramhal)
  (unlocked dmysram) (dr-closed dmysram) (unlocked dunimys)
  (dr-open dunimys) (is-room rril) (is-room rclk) (is-room rpdp)
  (is-room rhal) (is-room rram) (is-room rmys) (is-room runi)
  (is-door dclkril) (is-door dpdpclk) (is-door dramclk)
  (is-door dmyspdp) (is-door dramhal) (is-door dmysram)
  (is-door dunimys) (carriable d) (pushable b) (is-object clkril-key)
  (is-object pdpclk-key) (is-object ramclk-key)
  (is-object myspdp-key) (is-object ramhal-key)
  (is-object mysram-key) (is-object unimys-key) (is-object e)(is-box e)
  (is-object d)(is-box d) (is-object c)(is-box c) (is-object b)(is-box b) (is-object a)(is-box a)
  (inroom e rpdp) (inroom d rpdp) (inroom c rmys) (inroom b rmys)
  (inroom a rril) (inroom clkril-key runi) (inroom pdpclk-key rhal)
  (inroom ramclk-key rmys) (inroom myspdp-key rhal)
  (inroom ramhal-key rril) (inroom mysram-key rhal)
  (inroom unimys-key rclk) (inroom robot rril) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-21 (and (dr-open dmyspdp) (holding mysram-key))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to b c) (next-to e c) (unlocked dclkril) (dr-open dclkril)
  (unlocked dpdpclk) (dr-open dpdpclk) (unlocked dramclk)
  (dr-closed dramclk) (unlocked dmyspdp) (dr-closed dmyspdp)
  (unlocked dramhal) (dr-open dramhal) (unlocked dmysram)
  (dr-closed dmysram) (dr-closed dunimys) (locked dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (pushable d)
  (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e rril) (inroom d rclk)
  (inroom c rril) (inroom b rril) (inroom a rpdp)
  (inroom clkril-key rram) (inroom pdpclk-key rhal)
  (inroom ramclk-key rram) (inroom myspdp-key rclk)
  (inroom ramhal-key rril) (inroom mysram-key rpdp)
  (inroom unimys-key rram) (inroom robot rmys) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-22 (and (inroom a rclk) (next-to robot e))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (unlocked dclkril) (dr-open dclkril) (dr-closed dpdpclk)
  (locked dpdpclk) (unlocked dramclk) (dr-open dramclk)
  (dr-closed dmyspdp) (locked dmyspdp) (unlocked dramhal)
  (dr-open dramhal) (unlocked dmysram) (dr-closed dmysram)
  (unlocked dunimys) (dr-closed dunimys) (is-room rril)
  (is-room rclk) (is-room rpdp) (is-room rhal) (is-room rram)
  (is-room rmys) (is-room runi) (is-door dclkril) (is-door dpdpclk)
  (is-door dramclk) (is-door dmyspdp) (is-door dramhal)
  (is-door dmysram) (is-door dunimys) (carriable e) (carriable b)
  (pushable d) (pushable c) (pushable b) (pushable a)
  (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e runi) (inroom d rclk)
  (inroom c rhal) (inroom b rpdp) (inroom a rmys)
  (inroom clkril-key rril) (inroom pdpclk-key rmys)
  (inroom ramclk-key runi) (inroom myspdp-key rmys)
  (inroom ramhal-key rram) (inroom mysram-key rril)
  (inroom unimys-key runi) (inroom robot rram) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-23 (and (dr-open dmysram) (dr-closed dramclk))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot c) (next-to a d) (unlocked dclkril)
  (dr-open dclkril) (unlocked dpdpclk) (dr-open dpdpclk)
  (unlocked dramclk) (dr-open dramclk) (unlocked dmyspdp)
  (dr-open dmyspdp) (dr-closed dramhal) (locked dramhal)
  (unlocked dmysram) (dr-closed dmysram) (unlocked dunimys)
  (dr-closed dunimys) (is-room rril) (is-room rclk) (is-room rpdp)
  (is-room rhal) (is-room rram) (is-room rmys) (is-room runi)
  (is-door dclkril) (is-door dpdpclk) (is-door dramclk)
  (is-door dmyspdp) (is-door dramhal) (is-door dmysram)
  (is-door dunimys) (carriable d) (carriable c) (carriable b)
  (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e rril) (inroom d rhal)
  (inroom c rmys) (inroom b runi) (inroom a rhal)
  (inroom clkril-key rhal) (inroom pdpclk-key rril)
  (inroom ramclk-key rram) (inroom myspdp-key runi)
  (inroom ramhal-key rril) (inroom mysram-key runi)
  (inroom unimys-key rhal) (inroom robot rmys) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-24 (and (dr-closed dramhal) (dr-closed dmyspdp))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot e) (next-to d a) (dr-closed dclkril)
  (locked dclkril) (dr-closed dpdpclk) (locked dpdpclk)
  (unlocked dramclk) (dr-open dramclk) (unlocked dmyspdp)
  (dr-open dmyspdp) (unlocked dramhal) (dr-open dramhal)
  (unlocked dmysram) (dr-open dmysram) (unlocked dunimys)
  (dr-open dunimys) (is-room rril) (is-room rclk) (is-room rpdp)
  (is-room rhal) (is-room rram) (is-room rmys) (is-room runi)
  (is-door dclkril) (is-door dpdpclk) (is-door dramclk)
  (is-door dmyspdp) (is-door dramhal) (is-door dmysram)
  (is-door dunimys) (carriable e) (carriable d) (carriable c)
  (is-object clkril-key) (is-object pdpclk-key)
  (is-object ramclk-key) (is-object myspdp-key)
  (is-object ramhal-key) (is-object mysram-key)
  (is-object unimys-key) (is-object e)(is-box e) (is-object d)(is-box d) (is-object c)(is-box c)
  (is-object b)(is-box b) (is-object a)(is-box a) (inroom e rram) (inroom d rram)
  (inroom c rmys) (inroom b rmys) (inroom a rram)
  (inroom clkril-key rram) (inroom pdpclk-key rram)
  (inroom ramclk-key rmys) (inroom myspdp-key rhal)
  (inroom ramhal-key rclk) (inroom mysram-key rmys)
  (inroom unimys-key rmys) (inroom robot rram) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
(ST-25 (and (inroom a rram) (next-to e c))
 ((arm-empty) (dr-to-rm dclkril rril) (dr-to-rm dclkril rclk)
  (connects dclkril rril rclk) (connects dclkril rclk rril)
  (dr-to-rm dpdpclk rclk) (dr-to-rm dpdpclk rpdp)
  (connects dpdpclk rclk rpdp) (connects dpdpclk rpdp rclk)
  (dr-to-rm dramclk rclk) (dr-to-rm dramclk rram)
  (connects dramclk rclk rram) (connects dramclk rram rclk)
  (dr-to-rm dmyspdp rpdp) (dr-to-rm dmyspdp rmys)
  (connects dmyspdp rpdp rmys) (connects dmyspdp rmys rpdp)
  (dr-to-rm dramhal rhal) (dr-to-rm dramhal rram)
  (connects dramhal rhal rram) (connects dramhal rram rhal)
  (dr-to-rm dmysram rram) (dr-to-rm dmysram rmys)
  (connects dmysram rram rmys) (connects dmysram rmys rram)
  (dr-to-rm dunimys rmys) (dr-to-rm dunimys runi)
  (connects dunimys rmys runi) (connects dunimys runi rmys)
  (next-to robot c) (dr-closed dclkril) (locked dclkril)
  (unlocked dpdpclk) (dr-closed dpdpclk) (unlocked dramclk)
  (dr-closed dramclk) (unlocked dmyspdp) (dr-closed dmyspdp)
  (dr-closed dramhal) (locked dramhal) (unlocked dmysram)
  (dr-open dmysram) (unlocked dunimys) (dr-closed dunimys)
  (is-room rril) (is-room rclk) (is-room rpdp) (is-room rhal)
  (is-room rram) (is-room rmys) (is-room runi) (is-door dclkril)
  (is-door dpdpclk) (is-door dramclk) (is-door dmyspdp)
  (is-door dramhal) (is-door dmysram) (is-door dunimys) (carriable e)
  (carriable d) (pushable d) (pushable a) (is-object clkril-key)
  (is-object pdpclk-key) (is-object ramclk-key)
  (is-object myspdp-key) (is-object ramhal-key)
  (is-object mysram-key) (is-object unimys-key) (is-object e)(is-box e)
  (is-object d)(is-box d) (is-object c)(is-box c) (is-object b)(is-box b) (is-object a)(is-box a)
  (inroom e rclk) (inroom d rhal) (inroom c rpdp) (inroom b rmys)
  (inroom a runi) (inroom clkril-key rclk) (inroom pdpclk-key runi)
  (inroom ramclk-key rmys) (inroom myspdp-key rclk)
  (inroom ramhal-key rhal) (inroom mysram-key rril)
  (inroom unimys-key rpdp) (inroom robot rpdp) (carriable clkril-key)
  (is-key dclkril clkril-key) (carriable pdpclk-key)
  (is-key dpdpclk pdpclk-key) (carriable ramclk-key)
  (is-key dramclk ramclk-key) (carriable myspdp-key)
  (is-key dmyspdp myspdp-key) (carriable ramhal-key)
  (is-key dramhal ramhal-key) (carriable mysram-key)
  (is-key dmysram mysram-key) (carriable unimys-key)
  (is-key dunimys unimys-key))) 
))