planner_task(1,
[se(box,box2,[box_in(box2,room1)]),
se(door,door25,[unlocked(door25)]),
se(door,door24,[locked(door24)]),
se(key,key4,[key_next_key(key4,key2)]),
se(key,key1,[key_being_held(key1,harry,room1)]),
se(light,light1,[off(light1,room1)]),
se(robot,tom,[robot_in(tom,room2)]),
se(arm,harrys_arm,[arm_used(harrys_arm,key1)])],

[ss(arm,toms_arm,[arm_empty(toms_arm,tom)]),
ss(arm,dicks_arm,[arm_used(dicks_arm,key4)]),
ss(arm,harrys_arm,[arm_empty(harrys_arm,harry)]),
ss(robot,tom,[robot_in(tom,room2),robot_next_box(tom,box1)]),
ss(robot,dick,[robot_in(dick,room7)]),
ss(robot,harry,[robot_in(harry,room6),robot_next_box(harry,box2)]),
ss(light,light1,[off(light1,room1)]),
ss(light,light2,[off(light2,room2)]),
ss(light,light3,[on(light3,room3)]),
ss(light,light4,[off(light4,room4)]),
ss(light,light5,[off(light5,room5)]),
ss(light,light6,[off(light6,room6)]),
ss(light,light7,[on(light7,room7)]),
ss(key,key1,[key_on_floor(key1,room4)]),
ss(key,key2,[key_on_floor(key2,room1),key_next_box(key2,box6)]),
ss(key,key3,[key_on_floor(key3,room3)]),
ss(key,key4,[key_being_held(key4,dick,room7)]),
ss(key,key5,[key_on_floor(key5,room3),key_next_box(key5,box4)]),
ss(door,door12,[closed(door12),locked(door12)]),
ss(door,door23,[open(door23),unlocked(door23)]),
ss(door,door24,[closed(door24),unlocked(door24)]),
ss(door,door25,[open(door25),unlocked(door25)]),
ss(door,door35,[open(door35),unlocked(door35)]),
ss(door,door45,[closed(door45),locked(door45)]),
ss(door,door56,[open(door56),unlocked(door56)]),
ss(door,door47,[closed(door47),unlocked(door47)]),
ss(door,door57,[closed(door57),locked(door57)]),
ss(door,door67,[closed(door67),locked(door67)]),
ss(box,box1,[box_in(box1,room2)]),
ss(box,box2,[box_in(box2,room6)]),
ss(box,box3,[box_in(box3,room2)]),
ss(box,box4,[box_in(box4,room3)]),
ss(box,box5,[box_in(box5,room3),box_next_key(box5,key5)]),
ss(box,box6,[box_in(box6,room1)])]
).