set instance r robot
set instance h carrier
set instance p1 person
set instance p2 person
set instance p3 person
set instance p4 person
set instance c1 crate
set instance c2 crate
set instance c3 crate
set instance c4 crate
set instance n0 capacity
set instance n1 capacity
set instance n2 capacity
set instance n3 capacity
set instance empty capacity
set instance l1 location
set instance l2 location
set instance l3 location
set instance depot location
set instance food content
set instance medecine content



set predicate (isat r depot)
set predicate (isat h depot)
set predicate (isat c1 depot)
set predicate (isat c2 depot)
set predicate (isat c3 depot)
set predicate (isat c4 depot)
set predicate (isat p1 l1)
set predicate (isat p2 l2)
set predicate (isat p3 l3)
set predicate (isat p4 l3)
set predicate (need p1 food)
set predicate (need p2 food)
set predicate (need p4 food)
set predicate (need p4 medecine)
set predicate (satisfied p1 medecine)
set predicate (satisfied p2 medecine)
set predicate (satisfied p3 medecine)
set predicate (satisfied p3 food)
set predicate (cratecontent c1 food)
set predicate (cratecontent c2 food)
set predicate (cratecontent c3 food)
set predicate (cratecontent c4 medecine)
set predicate (deliverable c1)
set predicate (deliverable c2)
set predicate (deliverable c3)
set predicate (deliverable c4)
set predicate (capacity_follow n0 n1)
set predicate (capacity_follow n1 n2)
set predicate (capacity_follow n2 n3)
set predicate (capacity_follow n3 empty)
set predicate (capacity_c h empty)
set predicate (nobusy r)

set goal (and (satisfied p1 food)(satisfied p2 food)(satisfied p3 food)(satisfied p4 food)(satisfied p1 medecine)(satisfied p2 medecine)(satisfied p3 medecine)(satisfied p4 medecine)))