(:trajectory

(:state (above f0 f1) (above f0 f2) (above f0 f3) (above f1 f2) (above f1 f3) (above f2 f3) (destin p0 f0) (destin p1 f0) (lift_at f0) (origin p0 f3) (origin p1 f2))

(:action (up f0 f2))

(:state (above f0 f1) (above f0 f2) (above f0 f3) (above f1 f2) (above f1 f3) (above f2 f3) (destin p0 f0) (destin p1 f0) (lift_at f2) (origin p0 f3) (origin p1 f2))

(:action (board f2 p1))

(:state (above f0 f1) (above f0 f2) (above f0 f3) (above f1 f2) (above f1 f3) (above f2 f3) (boarded p1) (destin p0 f0) (destin p1 f0) (lift_at f2) (origin p0 f3) (origin p1 f2))

(:action (down f2 f0))

(:state (above f0 f1) (above f0 f2) (above f0 f3) (above f1 f2) (above f1 f3) (above f2 f3) (boarded p1) (destin p0 f0) (destin p1 f0) (lift_at f0) (origin p0 f3) (origin p1 f2))

(:action (depart f0 p1))

(:state (above f0 f1) (above f0 f2) (above f0 f3) (above f1 f2) (above f1 f3) (above f2 f3) (destin p0 f0) (destin p1 f0) (lift_at f0) (origin p0 f3) (origin p1 f2) (served p1))

(:action (up f0 f3))

(:state (above f0 f1) (above f0 f2) (above f0 f3) (above f1 f2) (above f1 f3) (above f2 f3) (destin p0 f0) (destin p1 f0) (lift_at f3) (origin p0 f3) (origin p1 f2) (served p1))

(:action (board f3 p0))

(:state (above f0 f1) (above f0 f2) (above f0 f3) (above f1 f2) (above f1 f3) (above f2 f3) (boarded p0) (destin p0 f0) (destin p1 f0) (lift_at f3) (origin p0 f3) (origin p1 f2) (served p1))

(:action (down f3 f0))

(:state (above f0 f1) (above f0 f2) (above f0 f3) (above f1 f2) (above f1 f3) (above f2 f3) (boarded p0) (destin p0 f0) (destin p1 f0) (lift_at f0) (origin p0 f3) (origin p1 f2) (served p1))

(:action (depart f0 p0))

(:state (above f0 f1) (above f0 f2) (above f0 f3) (above f1 f2) (above f1 f3) (above f2 f3) (destin p0 f0) (destin p1 f0) (lift_at f0) (origin p0 f3) (origin p1 f2) (served p0) (served p1))

)