(define(domain robotdomain)

    (:requirements :equality :adl)

    (:predicates

        (happy ?client)

        (robot ?robot)

        (free_arm ?robot)

        (room  ?room)

        (client ?client)

        (coke ?coke)

        (dfa ?dfa)

        (instate ?state)

        (in ?object ?room)

        (update ?dfa)

        (edge ?s-state ?e-state)

        (near ?from-room ?to-room)

        (state ?state)

    )

    (:action go_to

         :parameters (?robot ?from-room ?to-room ?dfa)

         :precondition

            (and

                (robot ?robot)

                (room ?from-room)

                (room ?to-room)

                (near ?from-room ?to-room)

                (in ?robot ?from-room)

                (dfa ?dfa)

                (update ?dfa)

            )

        :effect

            (and

                (not (in ?robot ?from-room))

                (in ?robot ?to-room)

                (not(update ?dfa))

            )

    )

    (:action grab

        :parameters(?robot ?coke ?room ?dfa)

        :precondition

            (and

                (robot ?robot)

                (coke ?coke)

                (free_arm ?robot)

                (dfa ?dfa)

                (update ?dfa)

                (in ?robot ?room)

                (in ?coke ?room)

            )

        :effect

            (and

                (not (free_arm ?robot))

                (not (update ?dfa))

                (not (in ?coke ?room))

            )

    )

    (:action give_to

        :parameters (?robot ?client ?coke ?where-room ?dfa)

        :precondition

            (and

                (robot ?robot)

                (coke ?coke)

                (in ?robot ?where-room)

                (in ?client ?where-room)

                (not (free_arm ?robot))

                (dfa ?dfa)

                (update ?dfa)

            )

        :effect

            (and

                (free_arm ?robot)

                (happy ?client)

                (not(update ?dfa))

            )

    )

    (:action move12

        :parameters(?robot ?e-state ?dfa)

        :precondition

            (and

                (robot ?robot)

                (state ?e-state)

                (not(in ?robot corridor))

                (instate state_1)

                (edge state_1 ?e-state)

                (dfa ?dfa)

                (not(update ?dfa))

            )

        :effect

            (and

                (instate ?e-state)

                (not(instate state_1))

                (update ?dfa)

            )

    )

    (:action move22

        :parameters(?robot ?e-state ?dfa)

        :precondition

            (and

                (robot ?robot)

                (not(in ?robot corridor))

                (instate state_2)

                (edge state_2 ?e-state)

                (dfa ?dfa)

                (not(update ?dfa))

            )

        :effect

            (update ?dfa)

    )

    (:action move13

        :parameters(?robot ?s-state ?e-state ?dfa)

        :precondition

            (and

                (robot ?robot)

                (state ?s-state)

                (state ?e-state)

                (= ?e-state state_3)

                (instate ?s-state)

                (edge ?s-state ?e-state)

                (in ?robot corridor)

                (dfa ?dfa)

                (not(update ?dfa))

            )

        :effect

            (and

                (instate ?e-state)

                (not(instate ?s-state))

                (update ?dfa)

            )

    )

    (:action move33

        :parameters(?robot ?e-state ?dfa)

        :precondition

            (and

                (robot ?robot)

                (instate state_3)

                (edge state_3 ?e-state)

                (dfa ?dfa)

                (not(update ?dfa))

            )

        :effect

            (update ?dfa)

    )

    (:action move23

        :parameters(?robot ?e-state ?dfa)

        :precondition

            (and

                (robot ?robot)

                (in ?robot corridor)

                (instate state_2)

                (edge state_2 ?e-state)

                (= ?e-state state_3)

                (dfa ?dfa)

                (not(update ?dfa))

            )

        :effect

            (and

                (not(instate state_2))

                (update ?dfa)

                (instate ?e-state)

            )

    )

)

(define (problem robotproblem)

    (:domain robotdomain)

    (:objects

        livingroom kitchen bathroom bedroom corridor hall

        robot_1

        state_1 state_2 state_3 dfa_1

        coke_1 client_1

    )

    (:init

        (robot robot_1) (client client_1)

        (room livingroom) (room kitchen)

        (room bedroom) (room corridor) (room hall) (room bathroom)

        (coke coke_1)

        (free_arm robot_1)

        (in client_1 livingroom) (in robot_1 livingroom) (in coke_1 kitchen)

        (near livingroom corridor) (near corridor livingroom)

        (near livingroom bedroom) (near bedroom livingroom)

        (near kitchen bathroom) (near bathroom kitchen)

        (near corridor hall)   (near hall corridor)

        (near hall kitchen)   (near kitchen hall)

        (near bedroom bathroom) (near bathroom bedroom)

        (instate state_1)

        (dfa dfa_1) (update dfa_1)

        (state state_1) (state state_2) (state state_3)

        (edge state_1 state_2) (edge state_1 state_3) (edge state_2 state_2)

        (edge state_2 state_3) (edge state_3 state_3)

    )

    (:goal

        (and

            (happy client_1)

            (instate state_2)

        )

    )

)