planner_task(1,
[se(box,box1,[at_door(box1,door24,room2)]),
 se(box,box2,[in_room(box2,room5),at_door(box2,door56,room5)]),
 se(box,big_box,[in_room(big_box,room2),at_door(big_box,door12,room2)])],

[ss(robot,tom,[robot_in(tom,room2)]),
 ss(box,box1,[in_room(box1,room2),at_door(box1,door23,room2)]),
 ss(box,box2,[in_room(box2,room5)]),
 ss(box,big_box,[in_room(big_box,room4),at_door(big_box,door24,room4)])
]).

planner_task(2,
[se(box,box1,[in_room(box1,room6)])],

[ss(robot,tom,[robot_in(tom,room2)]),
 ss(box,box1,[in_room(box1,room2),at_door(box1,door23,room2)]),
 ss(box,box2,[in_room(box2,room6)]),
 ss(box,big_box,[in_room(big_box,room7),at_door(big_box,door57,room7)])
]).

planner_task(3,
[se(robot,tom,[robot_in(tom,room3),robot_near(tom,big_box)]),
 se(box,box2,[in_room(box2,room6),at_door(box2,door67,room6)])],

[ss(robot,tom,[robot_in(tom,room1),robot_near(tom,box1)]),
 ss(box,box1,[in_room(box1,room1)]),
 ss(box,box2,[in_room(box2,room7),at_door(box2,door67,room7)]),
 ss(box,big_box,[in_room(big_box,room4)])
]).

planner_task(4,
[se(box,box1,[in_room(box1,room2)])],

[ss(robot,tom,[robot_in(tom,room4),robot_near(tom,box2)]),
 ss(box,box1,[in_room(box1,room5)]),
 ss(box,box2,[in_room(box2,room4)]),
 ss(box,big_box,[in_room(big_box,room4)])
]).

planner_task(5,
[se(robot,tom,[robot_in(tom,room5)]),
se(box,box2,[in_room(box2,room6),at_door(box2,door56,room6)]),
se(box,big_box,[in_room(big_box,room1)]]],

[ss(robot,tom,[robot_in(tom,room2),robot_near(tom,box1)]),
 ss(box,box1,[in_room(box1,room2),at_door(box1,door25,room2)]),
 ss(box,box2,[in_room(box2,room6)]),
 ss(box,big_box,[in_room(big_box,room4),at_door(big_box,door24,room4)])
]).