text: __author__ = 'patras'
  
  from domain_springDoor import *
  from timer import DURATION
  from state import state
  
  DURATION.TIME = {
      'unlatch1': 5,
      'unlatch2': 5,
      'holdDoor': 2,
      'passDoor': 3,
      'releaseDoor': 2,
      'closeDoors': 3,
      'move': 10,
      'take': 2,
      'put': 2,
  }
  
  DURATION.COUNTER = {
      'unlatch1': 5,
      'unlatch2': 5,
      'holdDoor': 2,
      'passDoor': 3,
      'releaseDoor': 2,
      'closeDoors': 3,
      'move': 10,
      'take': 2,
      'put': 2,
  }
  
  rv.LOCATIONS = [1, 2, 3, 4]
  rv.EDGES = {1: [2], 2: [1, 3, 4], 3: [2], 4: [2]}
  rv.DOORLOCATIONS = {(2, 3): 'd1', (2, 4): 'd2', (1, 2): 'd3'}
  rv.ROBOTS = ['r1', 'r2', 'r3']
  rv.DOORS = ['d1', 'd2', 'd3']
  rv.DOORTYPES = {'d1': 'spring', 'd2': 'ordinary', 'd3': 'ordinary'}
  
  def ResetState():
      state.load = {'r1': NIL, 'r2': NIL, 'r3': NIL}
      state.doorStatus = {'d1': 'closed', 'd2': 'closed', 'd3': 'closed'}
      state.loc = {'r1': 1, 'r2': 1, 'r3': 3}
      state.pos = {'o1': 3, 'o2': 1, 'o3': 1}
      state.done = {0: False}
      state.doorType = {'d1': UNK, 'd2': UNK, 'd3': UNK}
  
  tasks = {
      2: [['fetch', 'r3', 'o1', 1]],
      1: [['fetch', 'r2', 'o1', 2]],
      2: [['fetch', 'r3', 'o3', 1]]
  }
  
  eventsEnv = {}
  
  