+% ------------------------- Problem Instance --------------------------
+% --- Load domain definitions from an external file -------------------
+:- [domaintask6].
+
+% --- Definition of the initial state ---------------------------------
+% north and east
+connected(loc11, loc21, east).
+connected(loc11, loc12, north).
+connected(loc12, loc22, east).
+connected(loc12, loc13, north).
+connected(loc13, loc23, east).
+connected(loc13, loc14, north).
+connected(loc14, loc24, east).
+
+connected(loc21, loc31, east).
+connected(loc21, loc22, north).
+connected(loc22, loc32, east).
+connected(loc22, loc23, north).
+connected(loc23, loc33, east).
+connected(loc23, loc24, north).
+
+connected(loc31, loc32, north).
+connected(loc32, loc33, north).
+
+% The other way around, west and south
+connected(loc21, loc11, west).
+connected(loc12, loc11, south).
+connected(loc22, loc12, west).
+connected(loc13, loc12, south).
+connected(loc23, loc13, west).
+connected(loc14, loc13, south).
+connected(loc24, loc14, west).
+
+connected(loc31, loc21, west).
+connected(loc22, loc21, south).
+connected(loc32, loc22, west).
+connected(loc23, loc22, south).
+connected(loc33, loc23, west).
+connected(loc24, loc23, south).
+
+connected(loc32, loc31, south).
+connected(loc33, loc32, south).
+
+crate(cratec, loc21, s0).
+crate(crateb, loc22, s0).
+crate(cratea, loc23, s0).
+
+target(cratea, loc12).
+target(crateb, loc13).
+target(cratec, loc11).
+
+agent(loc32, s0).
+visited(loc32, s0).
+
+% --- Goal condition that the planner will try to reach ---------------
+goal(S) :- forall(connected(Start, _, _), visited(Start, S)).