(trajectory

(:objects node3-2 - place node3-1 - place node3-3 - place circle - shape key0 - key node1-1 - place node2-1 - place node2-2 - place node2-3 - place node3-0 - place node0-2 - place node0-3 - place node1-0 - place key1 - key key3 - key node0-0 - place node1-2 - place node1-3 - place node2-0 - place key2 - key node0-1 - place )

(:init (conn node2-1 node2-2) (keyshape key0 circle) (conn node2-2 node2-1) (conn node1-0 node2-0) (conn node2-1 node3-1) (conn node2-0 node2-1) (conn node1-2 node1-3) (conn node0-2 node1-2) (conn node1-0 node0-0) (conn node3-3 node2-3) (open node2-1) (conn node3-0 node3-1) (keyshape key2 circle) (conn node0-3 node0-2) (conn node0-0 node0-1) (holding key2) (open node2-3) (conn node2-2 node1-2) (conn node2-1 node1-1) (conn node1-1 node1-2) (open node0-2) (conn node1-3 node1-2) (conn node1-2 node1-1) (conn node0-1 node0-0) (open node1-3) (open node1-1) (atrobot node1-3) (lockshape node1-3 circle) (locked node3-1) (conn node2-3 node3-3) (conn node2-3 node2-2) (lockshape node2-1 circle) (at key0 node0-1) (open node2-0) (conn node1-1 node2-1) (locked node3-3) (conn node3-2 node3-3) (conn node3-1 node3-2) (conn node1-2 node2-2) (conn node1-2 node0-2) (conn node1-1 node0-1) (conn node3-2 node2-2) (conn node0-1 node0-2) (conn node2-0 node1-0) (conn node0-2 node0-3) (lockshape node3-1 circle) (conn node2-2 node3-2) (open node0-0) (conn node0-0 node1-0) (conn node1-0 node1-1) (conn node1-3 node2-3) (keyshape key3 circle) (conn node3-1 node2-1) (conn node3-3 node3-2) (lockshape node3-2 circle) (conn node1-3 node0-3) (lockshape node2-3 circle) (open node3-0) (open node1-2) (conn node3-1 node3-0) (conn node2-1 node2-0) (conn node2-0 node3-0) (conn node0-3 node1-3) (open node1-0) (open node2-2) (conn node0-1 node1-1) (lockshape node3-3 circle) (open node0-1) (conn node3-0 node2-0) (conn node2-3 node1-3) (conn node2-2 node2-3) (lockshape node2-2 circle) (keyshape key1 circle) (conn node0-2 node0-1) (conn node3-2 node3-1) (at key3 node2-3) (open node0-3) (locked node3-2) (conn node1-1 node1-0) (at key1 node1-3))

(:action (pickupandloose node1-3 key1 key2))

(:state (conn node2-1 node2-2) (keyshape key0 circle) (conn node2-2 node2-1) (conn node1-0 node2-0) (conn node2-1 node3-1) (conn node2-0 node2-1) (conn node1-2 node1-3) (conn node0-2 node1-2) (conn node1-0 node0-0) (conn node3-3 node2-3) (open node2-1) (conn node3-0 node3-1) (keyshape key2 circle) (conn node0-3 node0-2) (conn node0-0 node0-1) (open node2-3) (conn node2-2 node1-2) (conn node2-1 node1-1) (conn node1-1 node1-2) (open node0-2) (conn node1-3 node1-2) (conn node1-2 node1-1) (conn node0-1 node0-0) (open node1-3) (open node1-1) (atrobot node1-3) (lockshape node1-3 circle) (locked node3-1) (conn node2-3 node3-3) (conn node2-3 node2-2) (lockshape node2-1 circle) (at key0 node0-1) (open node2-0) (conn node1-1 node2-1) (locked node3-3) (conn node3-2 node3-3) (conn node3-1 node3-2) (conn node1-2 node2-2) (conn node1-2 node0-2) (conn node1-1 node0-1) (conn node3-2 node2-2) (conn node0-1 node0-2) (conn node2-0 node1-0) (conn node0-2 node0-3) (lockshape node3-1 circle) (conn node2-2 node3-2) (open node0-0) (conn node0-0 node1-0) (conn node1-0 node1-1) (conn node1-3 node2-3) (keyshape key3 circle) (conn node3-1 node2-1) (conn node3-3 node3-2) (lockshape node3-2 circle) (conn node1-3 node0-3) (lockshape node2-3 circle) (open node3-0) (open node1-2) (conn node3-1 node3-0) (conn node2-1 node2-0) (conn node2-0 node3-0) (conn node0-3 node1-3) (open node1-0) (open node2-2) (conn node0-1 node1-1) (lockshape node3-3 circle) (open node0-1) (conn node3-0 node2-0) (conn node2-3 node1-3) (conn node2-2 node2-3) (lockshape node2-2 circle) (keyshape key1 circle) (conn node0-2 node0-1) (conn node3-2 node3-1) (at key3 node2-3) (open node0-3) (locked node3-2) (conn node1-1 node1-0) (holding key1) (at key2 node1-3))

(:action (move node1-3 node1-2))

(:state (conn node2-1 node2-2) (keyshape key0 circle) (conn node2-2 node2-1) (conn node1-0 node2-0) (conn node2-1 node3-1) (conn node2-0 node2-1) (conn node1-2 node1-3) (conn node0-2 node1-2) (conn node1-0 node0-0) (conn node3-3 node2-3) (open node2-1) (conn node3-0 node3-1) (keyshape key2 circle) (conn node0-3 node0-2) (conn node0-0 node0-1) (open node2-3) (conn node2-2 node1-2) (conn node2-1 node1-1) (conn node1-1 node1-2) (open node0-2) (conn node1-3 node1-2) (conn node1-2 node1-1) (conn node0-1 node0-0) (open node1-3) (open node1-1) (lockshape node1-3 circle) (locked node3-1) (conn node2-3 node3-3) (conn node2-3 node2-2) (lockshape node2-1 circle) (at key0 node0-1) (open node2-0) (conn node1-1 node2-1) (locked node3-3) (conn node3-2 node3-3) (conn node3-1 node3-2) (conn node1-2 node2-2) (conn node1-2 node0-2) (conn node1-1 node0-1) (conn node3-2 node2-2) (conn node0-1 node0-2) (conn node2-0 node1-0) (conn node0-2 node0-3) (lockshape node3-1 circle) (conn node2-2 node3-2) (open node0-0) (conn node0-0 node1-0) (conn node1-0 node1-1) (conn node1-3 node2-3) (keyshape key3 circle) (conn node3-1 node2-1) (conn node3-3 node3-2) (lockshape node3-2 circle) (conn node1-3 node0-3) (lockshape node2-3 circle) (open node3-0) (open node1-2) (conn node3-1 node3-0) (conn node2-1 node2-0) (conn node2-0 node3-0) (conn node0-3 node1-3) (open node1-0) (open node2-2) (conn node0-1 node1-1) (lockshape node3-3 circle) (open node0-1) (conn node3-0 node2-0) (conn node2-3 node1-3) (conn node2-2 node2-3) (lockshape node2-2 circle) (keyshape key1 circle) (conn node0-2 node0-1) (conn node3-2 node3-1) (at key3 node2-3) (open node0-3) (locked node3-2) (conn node1-1 node1-0) (holding key1) (at key2 node1-3) (atrobot node1-2))

(:action (move node1-2 node1-1))

(:state (conn node2-1 node2-2) (keyshape key0 circle) (conn node2-2 node2-1) (conn node1-0 node2-0) (conn node2-1 node3-1) (conn node2-0 node2-1) (conn node1-2 node1-3) (conn node0-2 node1-2) (conn node1-0 node0-0) (conn node3-3 node2-3) (open node2-1) (conn node3-0 node3-1) (keyshape key2 circle) (conn node0-3 node0-2) (conn node0-0 node0-1) (open node2-3) (conn node2-2 node1-2) (conn node2-1 node1-1) (conn node1-1 node1-2) (open node0-2) (conn node1-3 node1-2) (conn node1-2 node1-1) (conn node0-1 node0-0) (open node1-3) (open node1-1) (lockshape node1-3 circle) (locked node3-1) (conn node2-3 node3-3) (conn node2-3 node2-2) (lockshape node2-1 circle) (at key0 node0-1) (open node2-0) (conn node1-1 node2-1) (locked node3-3) (conn node3-2 node3-3) (conn node3-1 node3-2) (conn node1-2 node2-2) (conn node1-2 node0-2) (conn node1-1 node0-1) (conn node3-2 node2-2) (conn node0-1 node0-2) (conn node2-0 node1-0) (conn node0-2 node0-3) (lockshape node3-1 circle) (conn node2-2 node3-2) (open node0-0) (conn node0-0 node1-0) (conn node1-0 node1-1) (conn node1-3 node2-3) (keyshape key3 circle) (conn node3-1 node2-1) (conn node3-3 node3-2) (lockshape node3-2 circle) (conn node1-3 node0-3) (lockshape node2-3 circle) (open node3-0) (open node1-2) (conn node3-1 node3-0) (conn node2-1 node2-0) (conn node2-0 node3-0) (conn node0-3 node1-3) (open node1-0) (open node2-2) (conn node0-1 node1-1) (lockshape node3-3 circle) (open node0-1) (conn node3-0 node2-0) (conn node2-3 node1-3) (conn node2-2 node2-3) (lockshape node2-2 circle) (keyshape key1 circle) (conn node0-2 node0-1) (conn node3-2 node3-1) (at key3 node2-3) (open node0-3) (locked node3-2) (conn node1-1 node1-0) (holding key1) (at key2 node1-3) (atrobot node1-1))

(:action (move node1-1 node0-1))

(:state (conn node2-1 node2-2) (keyshape key0 circle) (conn node2-2 node2-1) (conn node1-0 node2-0) (conn node2-1 node3-1) (conn node2-0 node2-1) (conn node1-2 node1-3) (conn node0-2 node1-2) (conn node1-0 node0-0) (conn node3-3 node2-3) (open node2-1) (conn node3-0 node3-1) (keyshape key2 circle) (conn node0-3 node0-2) (conn node0-0 node0-1) (open node2-3) (conn node2-2 node1-2) (conn node2-1 node1-1) (conn node1-1 node1-2) (open node0-2) (conn node1-3 node1-2) (conn node1-2 node1-1) (conn node0-1 node0-0) (open node1-3) (open node1-1) (lockshape node1-3 circle) (locked node3-1) (conn node2-3 node3-3) (conn node2-3 node2-2) (lockshape node2-1 circle) (at key0 node0-1) (open node2-0) (conn node1-1 node2-1) (locked node3-3) (conn node3-2 node3-3) (conn node3-1 node3-2) (conn node1-2 node2-2) (conn node1-2 node0-2) (conn node1-1 node0-1) (conn node3-2 node2-2) (conn node0-1 node0-2) (conn node2-0 node1-0) (conn node0-2 node0-3) (lockshape node3-1 circle) (conn node2-2 node3-2) (open node0-0) (conn node0-0 node1-0) (conn node1-0 node1-1) (conn node1-3 node2-3) (keyshape key3 circle) (conn node3-1 node2-1) (conn node3-3 node3-2) (lockshape node3-2 circle) (conn node1-3 node0-3) (lockshape node2-3 circle) (open node3-0) (open node1-2) (conn node3-1 node3-0) (conn node2-1 node2-0) (conn node2-0 node3-0) (conn node0-3 node1-3) (open node1-0) (open node2-2) (conn node0-1 node1-1) (lockshape node3-3 circle) (open node0-1) (conn node3-0 node2-0) (conn node2-3 node1-3) (conn node2-2 node2-3) (lockshape node2-2 circle) (keyshape key1 circle) (conn node0-2 node0-1) (conn node3-2 node3-1) (at key3 node2-3) (open node0-3) (locked node3-2) (conn node1-1 node1-0) (holding key1) (at key2 node1-3) (atrobot node0-1))

(:action (pickupandloose node0-1 key0 key1))

(:state (conn node2-1 node2-2) (keyshape key0 circle) (conn node2-2 node2-1) (conn node1-0 node2-0) (conn node2-1 node3-1) (conn node2-0 node2-1) (conn node1-2 node1-3) (conn node0-2 node1-2) (conn node1-0 node0-0) (conn node3-3 node2-3) (open node2-1) (conn node3-0 node3-1) (keyshape key2 circle) (conn node0-3 node0-2) (conn node0-0 node0-1) (open node2-3) (conn node2-2 node1-2) (conn node2-1 node1-1) (conn node1-1 node1-2) (open node0-2) (conn node1-3 node1-2) (conn node1-2 node1-1) (conn node0-1 node0-0) (open node1-3) (open node1-1) (lockshape node1-3 circle) (locked node3-1) (conn node2-3 node3-3) (conn node2-3 node2-2) (lockshape node2-1 circle) (open node2-0) (conn node1-1 node2-1) (locked node3-3) (conn node3-2 node3-3) (conn node3-1 node3-2) (conn node1-2 node2-2) (conn node1-2 node0-2) (conn node1-1 node0-1) (conn node3-2 node2-2) (conn node0-1 node0-2) (conn node2-0 node1-0) (conn node0-2 node0-3) (lockshape node3-1 circle) (conn node2-2 node3-2) (open node0-0) (conn node0-0 node1-0) (conn node1-0 node1-1) (conn node1-3 node2-3) (keyshape key3 circle) (conn node3-1 node2-1) (conn node3-3 node3-2) (lockshape node3-2 circle) (conn node1-3 node0-3) (lockshape node2-3 circle) (open node3-0) (open node1-2) (conn node3-1 node3-0) (conn node2-1 node2-0) (conn node2-0 node3-0) (conn node0-3 node1-3) (open node1-0) (open node2-2) (conn node0-1 node1-1) (lockshape node3-3 circle) (open node0-1) (conn node3-0 node2-0) (conn node2-3 node1-3) (conn node2-2 node2-3) (lockshape node2-2 circle) (keyshape key1 circle) (conn node0-2 node0-1) (conn node3-2 node3-1) (at key3 node2-3) (open node0-3) (locked node3-2) (conn node1-1 node1-0) (at key2 node1-3) (atrobot node0-1) (holding key0) (at key1 node0-1))

(:action (move node0-1 node1-1))

(:state (conn node2-1 node2-2) (keyshape key0 circle) (conn node2-2 node2-1) (conn node1-0 node2-0) (conn node2-1 node3-1) (conn node2-0 node2-1) (conn node1-2 node1-3) (conn node0-2 node1-2) (conn node1-0 node0-0) (conn node3-3 node2-3) (open node2-1) (conn node3-0 node3-1) (keyshape key2 circle) (conn node0-3 node0-2) (conn node0-0 node0-1) (open node2-3) (conn node2-2 node1-2) (conn node2-1 node1-1) (conn node1-1 node1-2) (open node0-2) (conn node1-3 node1-2) (conn node1-2 node1-1) (conn node0-1 node0-0) (open node1-3) (open node1-1) (lockshape node1-3 circle) (locked node3-1) (conn node2-3 node3-3) (conn node2-3 node2-2) (lockshape node2-1 circle) (open node2-0) (conn node1-1 node2-1) (locked node3-3) (conn node3-2 node3-3) (conn node3-1 node3-2) (conn node1-2 node2-2) (conn node1-2 node0-2) (conn node1-1 node0-1) (conn node3-2 node2-2) (conn node0-1 node0-2) (conn node2-0 node1-0) (conn node0-2 node0-3) (lockshape node3-1 circle) (conn node2-2 node3-2) (open node0-0) (conn node0-0 node1-0) (conn node1-0 node1-1) (conn node1-3 node2-3) (keyshape key3 circle) (conn node3-1 node2-1) (conn node3-3 node3-2) (lockshape node3-2 circle) (conn node1-3 node0-3) (lockshape node2-3 circle) (open node3-0) (open node1-2) (conn node3-1 node3-0) (conn node2-1 node2-0) (conn node2-0 node3-0) (conn node0-3 node1-3) (open node1-0) (open node2-2) (conn node0-1 node1-1) (lockshape node3-3 circle) (open node0-1) (conn node3-0 node2-0) (conn node2-3 node1-3) (conn node2-2 node2-3) (lockshape node2-2 circle) (keyshape key1 circle) (conn node0-2 node0-1) (conn node3-2 node3-1) (at key3 node2-3) (open node0-3) (locked node3-2) (conn node1-1 node1-0) (at key2 node1-3) (holding key0) (at key1 node0-1) (atrobot node1-1))

(:action (move node1-1 node2-1))

(:state (conn node2-1 node2-2) (keyshape key0 circle) (conn node2-2 node2-1) (conn node1-0 node2-0) (conn node2-1 node3-1) (conn node2-0 node2-1) (conn node1-2 node1-3) (conn node0-2 node1-2) (conn node1-0 node0-0) (conn node3-3 node2-3) (open node2-1) (conn node3-0 node3-1) (keyshape key2 circle) (conn node0-3 node0-2) (conn node0-0 node0-1) (open node2-3) (conn node2-2 node1-2) (conn node2-1 node1-1) (conn node1-1 node1-2) (open node0-2) (conn node1-3 node1-2) (conn node1-2 node1-1) (conn node0-1 node0-0) (open node1-3) (open node1-1) (lockshape node1-3 circle) (locked node3-1) (conn node2-3 node3-3) (conn node2-3 node2-2) (lockshape node2-1 circle) (open node2-0) (conn node1-1 node2-1) (locked node3-3) (conn node3-2 node3-3) (conn node3-1 node3-2) (conn node1-2 node2-2) (conn node1-2 node0-2) (conn node1-1 node0-1) (conn node3-2 node2-2) (conn node0-1 node0-2) (conn node2-0 node1-0) (conn node0-2 node0-3) (lockshape node3-1 circle) (conn node2-2 node3-2) (open node0-0) (conn node0-0 node1-0) (conn node1-0 node1-1) (conn node1-3 node2-3) (keyshape key3 circle) (conn node3-1 node2-1) (conn node3-3 node3-2) (lockshape node3-2 circle) (conn node1-3 node0-3) (lockshape node2-3 circle) (open node3-0) (open node1-2) (conn node3-1 node3-0) (conn node2-1 node2-0) (conn node2-0 node3-0) (conn node0-3 node1-3) (open node1-0) (open node2-2) (conn node0-1 node1-1) (lockshape node3-3 circle) (open node0-1) (conn node3-0 node2-0) (conn node2-3 node1-3) (conn node2-2 node2-3) (lockshape node2-2 circle) (keyshape key1 circle) (conn node0-2 node0-1) (conn node3-2 node3-1) (at key3 node2-3) (open node0-3) (locked node3-2) (conn node1-1 node1-0) (at key2 node1-3) (holding key0) (at key1 node0-1) (atrobot node2-1))

(:action (putdown node2-1 key0))

(:state (conn node2-1 node2-2) (keyshape key0 circle) (conn node2-2 node2-1) (conn node1-0 node2-0) (conn node2-1 node3-1) (conn node2-0 node2-1) (conn node1-2 node1-3) (conn node0-2 node1-2) (conn node1-0 node0-0) (conn node3-3 node2-3) (open node2-1) (conn node3-0 node3-1) (keyshape key2 circle) (conn node0-3 node0-2) (conn node0-0 node0-1) (open node2-3) (conn node2-2 node1-2) (conn node2-1 node1-1) (conn node1-1 node1-2) (open node0-2) (conn node1-3 node1-2) (conn node1-2 node1-1) (conn node0-1 node0-0) (open node1-3) (open node1-1) (lockshape node1-3 circle) (locked node3-1) (conn node2-3 node3-3) (conn node2-3 node2-2) (lockshape node2-1 circle) (open node2-0) (conn node1-1 node2-1) (locked node3-3) (conn node3-2 node3-3) (conn node3-1 node3-2) (conn node1-2 node2-2) (conn node1-2 node0-2) (conn node1-1 node0-1) (conn node3-2 node2-2) (conn node0-1 node0-2) (conn node2-0 node1-0) (conn node0-2 node0-3) (lockshape node3-1 circle) (conn node2-2 node3-2) (open node0-0) (conn node0-0 node1-0) (conn node1-0 node1-1) (conn node1-3 node2-3) (keyshape key3 circle) (conn node3-1 node2-1) (conn node3-3 node3-2) (lockshape node3-2 circle) (conn node1-3 node0-3) (lockshape node2-3 circle) (open node3-0) (open node1-2) (conn node3-1 node3-0) (conn node2-1 node2-0) (conn node2-0 node3-0) (conn node0-3 node1-3) (open node1-0) (open node2-2) (conn node0-1 node1-1) (lockshape node3-3 circle) (open node0-1) (conn node3-0 node2-0) (conn node2-3 node1-3) (conn node2-2 node2-3) (lockshape node2-2 circle) (keyshape key1 circle) (conn node0-2 node0-1) (conn node3-2 node3-1) (at key3 node2-3) (open node0-3) (locked node3-2) (conn node1-1 node1-0) (at key2 node1-3) (at key1 node0-1) (atrobot node2-1) (armempty ) (at key0 node2-1))

(:action (pickup node2-1 key0))

(:state (conn node2-1 node2-2) (keyshape key0 circle) (conn node2-2 node2-1) (conn node1-0 node2-0) (conn node2-1 node3-1) (conn node2-0 node2-1) (conn node1-2 node1-3) (conn node0-2 node1-2) (conn node1-0 node0-0) (conn node3-3 node2-3) (open node2-1) (conn node3-0 node3-1) (keyshape key2 circle) (conn node0-3 node0-2) (conn node0-0 node0-1) (open node2-3) (conn node2-2 node1-2) (conn node2-1 node1-1) (conn node1-1 node1-2) (open node0-2) (conn node1-3 node1-2) (conn node1-2 node1-1) (conn node0-1 node0-0) (open node1-3) (open node1-1) (lockshape node1-3 circle) (locked node3-1) (conn node2-3 node3-3) (conn node2-3 node2-2) (lockshape node2-1 circle) (open node2-0) (conn node1-1 node2-1) (locked node3-3) (conn node3-2 node3-3) (conn node3-1 node3-2) (conn node1-2 node2-2) (conn node1-2 node0-2) (conn node1-1 node0-1) (conn node3-2 node2-2) (conn node0-1 node0-2) (conn node2-0 node1-0) (conn node0-2 node0-3) (lockshape node3-1 circle) (conn node2-2 node3-2) (open node0-0) (conn node0-0 node1-0) (conn node1-0 node1-1) (conn node1-3 node2-3) (keyshape key3 circle) (conn node3-1 node2-1) (conn node3-3 node3-2) (lockshape node3-2 circle) (conn node1-3 node0-3) (lockshape node2-3 circle) (open node3-0) (open node1-2) (conn node3-1 node3-0) (conn node2-1 node2-0) (conn node2-0 node3-0) (conn node0-3 node1-3) (open node1-0) (open node2-2) (conn node0-1 node1-1) (lockshape node3-3 circle) (open node0-1) (conn node3-0 node2-0) (conn node2-3 node1-3) (conn node2-2 node2-3) (lockshape node2-2 circle) (keyshape key1 circle) (conn node0-2 node0-1) (conn node3-2 node3-1) (at key3 node2-3) (open node0-3) (locked node3-2) (conn node1-1 node1-0) (at key2 node1-3) (at key1 node0-1) (atrobot node2-1) (holding key0))

(:action (unlock node2-1 node3-1 key0 circle))

(:state (conn node2-1 node2-2) (keyshape key0 circle) (conn node2-2 node2-1) (conn node1-0 node2-0) (conn node2-1 node3-1) (conn node2-0 node2-1) (conn node1-2 node1-3) (conn node0-2 node1-2) (conn node1-0 node0-0) (conn node3-3 node2-3) (open node2-1) (conn node3-0 node3-1) (keyshape key2 circle) (conn node0-3 node0-2) (conn node0-0 node0-1) (open node2-3) (conn node2-2 node1-2) (conn node2-1 node1-1) (conn node1-1 node1-2) (open node0-2) (conn node1-3 node1-2) (conn node1-2 node1-1) (conn node0-1 node0-0) (open node1-3) (open node1-1) (lockshape node1-3 circle) (conn node2-3 node3-3) (conn node2-3 node2-2) (lockshape node2-1 circle) (open node2-0) (conn node1-1 node2-1) (locked node3-3) (conn node3-2 node3-3) (conn node3-1 node3-2) (conn node1-2 node2-2) (conn node1-2 node0-2) (conn node1-1 node0-1) (conn node3-2 node2-2) (conn node0-1 node0-2) (conn node2-0 node1-0) (conn node0-2 node0-3) (lockshape node3-1 circle) (conn node2-2 node3-2) (open node0-0) (conn node0-0 node1-0) (conn node1-0 node1-1) (conn node1-3 node2-3) (keyshape key3 circle) (conn node3-1 node2-1) (conn node3-3 node3-2) (lockshape node3-2 circle) (conn node1-3 node0-3) (lockshape node2-3 circle) (open node3-0) (open node1-2) (conn node3-1 node3-0) (conn node2-1 node2-0) (conn node2-0 node3-0) (conn node0-3 node1-3) (open node1-0) (open node2-2) (conn node0-1 node1-1) (lockshape node3-3 circle) (open node0-1) (conn node3-0 node2-0) (conn node2-3 node1-3) (conn node2-2 node2-3) (lockshape node2-2 circle) (keyshape key1 circle) (conn node0-2 node0-1) (conn node3-2 node3-1) (at key3 node2-3) (open node0-3) (locked node3-2) (conn node1-1 node1-0) (at key2 node1-3) (at key1 node0-1) (atrobot node2-1) (holding key0) (open node3-1)))
