role(robot1)
role(robot2)
role(robot3)

init(step(1,1))
init(step(2,1))
init(step(3,1))

legal(robot1,a(1))
legal(robot1,b(1))
legal(robot1,c(1))
legal(robot2,a(2))
legal(robot2,b(2))
legal(robot2,c(2))
legal(robot3,a(3))
legal(robot3,b(3))
legal(robot3,c(3))

next(p(1)) :- does(robot1,a(1)) & ~true(p(1))
next(p(1)) :- does(robot1,b(1)) & true(q(1))
next(p(1)) :- true(p(1)) & ~does(robot1,a(1)) & ~does(robot1,b(1))
next(q(1)) :- does(robot1,b(1)) & true(p(1))
next(q(1)) :- does(robot1,c(1)) & true(r(1))
next(q(1)) :- true(q(1)) & ~does(robot1,b(1)) & ~does(robot1,c(1))
next(r(1)) :- does(robot1,c(1)) & true(q(1))
next(r(1)) :- true(r(1)) & ~does(robot1,c(1))
next(p(2)) :- does(robot2,a(2)) & ~true(p(2))
next(p(2)) :- does(robot2,b(2)) & true(q(2))
next(p(2)) :- true(p(2)) & ~does(robot2,a(2)) & ~does(robot2,b(2))
next(q(2)) :- does(robot2,b(2)) & true(p(2))
next(q(2)) :- does(robot2,c(2)) & true(r(2))
next(q(2)) :- true(q(2)) & ~does(robot2,b(2)) & ~does(robot2,c(2))
next(r(2)) :- does(robot2,c(2)) & true(q(2))
next(r(2)) :- true(r(2)) & ~does(robot2,c(2))
next(p(3)) :- does(robot3,a(3)) & ~true(p(3))
next(p(3)) :- does(robot3,b(3)) & true(q(3))
next(p(3)) :- true(p(3)) & ~does(robot3,a(3)) & ~does(robot3,b(3))
next(q(3)) :- does(robot3,b(3)) & true(p(3))
next(q(3)) :- does(robot3,c(3)) & true(r(3))
next(q(3)) :- true(q(3)) & ~does(robot3,b(3)) & ~does(robot3,c(3))
next(r(3)) :- does(robot3,c(3)) & true(q(3))
next(r(3)) :- true(r(3)) & ~does(robot3,c(3))
next(step(1,2)) :- true(step(1,1))
next(step(1,3)) :- true(step(1,2))
next(step(1,4)) :- true(step(1,3))
next(step(1,5)) :- true(step(1,4))
next(step(1,6)) :- true(step(1,5))
next(step(1,7)) :- true(step(1,6))
next(step(2,2)) :- true(step(2,1))
next(step(2,3)) :- true(step(2,2))
next(step(2,4)) :- true(step(2,3))
next(step(2,5)) :- true(step(2,4))
next(step(2,6)) :- true(step(2,5))
next(step(2,7)) :- true(step(2,6))
next(step(3,2)) :- true(step(3,1))
next(step(3,3)) :- true(step(3,2))
next(step(3,4)) :- true(step(3,3))
next(step(3,5)) :- true(step(3,4))
next(step(3,6)) :- true(step(3,5))
next(step(3,7)) :- true(step(3,6))

goal(robot1,100) :- row(1)
goal(robot2,100) :- row(2)
goal(robot3,100) :- row(3)

terminal :- terminal(1) & terminal(2) & terminal(3)
terminal(1) :- row(1)
terminal(1) :- true(step(1,7))
terminal(2) :- row(2)
terminal(2) :- true(step(2,7))
terminal(3) :- row(3)
terminal(3) :- true(step(3,7))

row(1) :- true(p(1)) & true(q(1)) & true(r(1))
row(2) :- true(p(2)) & true(q(2)) & true(r(2))
row(3) :- true(p(3)) & true(q(3)) & true(r(3))