rooms: ra rb rc rd re rf rg rh ri rj
boxes: ba bb bc bd be bf bg bh bi bj

door ra rb
door rb rc
door rc rd
door rd re
door re rf
door rf rg
door rg rh
door rh ri
door ri rj
in ba ra
in bb rb
in bc rc
in bd rd
in be re
in bf rf
in bg rg
in bh rh
in bi ri
in bj rj
robot-in ra

robot-in ra
in ba ra