19, [s0.0-b, s0.0-g, s0.1-b, s0.1-g, s0.2-b, s0.2-g, s1.0-b, s1.0-g, s1.1-b, s1.1-g, s1.2-b, s1.2-g, s2.0-b, s2.0-g, s2.1-b, s2.1-g, s2.2-b, s2.2-g, exit]
3, [e-gbb, e-bgb, e-bbg]
8, [North, South, East, West, Sample, Check0, Check1, Check2]
3, [Bad, Good, Nothing]

45, [pt_0.0, pt_1.0, pt_2.0, po_0.0_0, po_0.0_1, po_0.0_2, po_0.0_3, po_0.0_4, po_0.0_5, po_0.1_0, po_0.1_1, po_0.1_2, po_0.1_3, po_0.1_4, po_0.1_5, po_1.0_0, po_1.0_1, po_1.0_2, po_1.0_3, po_1.0_4, po_1.0_5, po_1.1_0, po_1.1_1, po_1.1_2, po_1.1_3, po_1.1_4, po_1.1_5, po_2.0_0, po_2.0_1, po_2.0_2, po_2.0_3, po_2.0_4, po_2.0_5, po_2.1_0, po_2.1_1, po_2.1_2, po_2.1_3, po_2.1_4, po_2.1_5, r_0.0, r_0.1, r_1.0, r_1.1, r_2.0, r_2.1]
[1, 0, 0, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.687607, 0.75, 1.0, 0.570393, 0.606132, 0.625, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, -10, 10, -10, -10, -10, -10]
[0, 1, 0, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.687607, 0.75, 1.0, 0.570393, 0.606132, 0.625, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, -10, -10, -10, 10, -10, -10]
[0, 0, 1, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.312393, 0.25, 0.0, 0.429607, 0.393868, 0.375, 0.687607, 0.75, 1.0, 0.570393, 0.606132, 0.625, -10, -10, -10, -10, -10, 10]

# Transition function (s,a,s -> p)
0,0,6 -> 1
0,1,0 -> 1
0,2,2 -> 1
0,3,0 -> 1
1,0,7 -> 1
1,1,1 -> 1
1,2,3 -> 1
1,3,1 -> 1
0,5,0 -> 1
1,5,1 -> 1
0,6,0 -> 1
1,6,1 -> 1
0,7,0 -> 1
1,7,1 -> 1
2,0,8 -> 1
2,1,2 -> 1
2,2,4 -> 1
2,3,0 -> 1
3,0,9 -> 1
3,1,3 -> 1
3,2,5 -> 1
3,3,1 -> 1
2,5,2 -> 1
3,5,3 -> 1
2,6,2 -> 1
3,6,3 -> 1
2,7,2 -> 1
3,7,3 -> 1
4,0,10 -> 1
4,1,4 -> 1
4,2,18 -> 1
4,3,2 -> 1
5,0,11 -> 1
5,1,5 -> 1
5,2,18 -> 1
5,3,3 -> 1
4,4,4 -> 1
5,4,4 -> pt_2.0
5,4,5 -> 1-pt_2.0
4,5,4 -> 1
5,5,5 -> 1
4,6,4 -> 1
5,6,5 -> 1
4,7,4 -> 1
5,7,5 -> 1
6,0,12 -> 1
6,1,0 -> 1
6,2,8 -> 1
6,3,6 -> 1
7,0,13 -> 1
7,1,1 -> 1
7,2,9 -> 1
7,3,7 -> 1
6,5,6 -> 1
7,5,7 -> 1
6,6,6 -> 1
7,6,7 -> 1
6,7,6 -> 1
7,7,7 -> 1
8,0,14 -> 1
8,1,2 -> 1
8,2,10 -> 1
8,3,6 -> 1
9,0,15 -> 1
9,1,3 -> 1
9,2,11 -> 1
9,3,7 -> 1
8,4,8 -> 1
9,4,8 -> pt_0.0
9,4,9 -> 1-pt_0.0
8,5,8 -> 1
9,5,9 -> 1
8,6,8 -> 1
9,6,9 -> 1
8,7,8 -> 1
9,7,9 -> 1
10,0,16 -> 1
10,1,4 -> 1
10,2,18 -> 1
10,3,8 -> 1
11,0,17 -> 1
11,1,5 -> 1
11,2,18 -> 1
11,3,9 -> 1
10,5,10 -> 1
11,5,11 -> 1
10,6,10 -> 1
11,6,11 -> 1
10,7,10 -> 1
11,7,11 -> 1
12,0,12 -> 1
12,1,6 -> 1
12,2,14 -> 1
12,3,12 -> 1
13,0,13 -> 1
13,1,7 -> 1
13,2,15 -> 1
13,3,13 -> 1
12,5,12 -> 1
13,5,13 -> 1
12,6,12 -> 1
13,6,13 -> 1
12,7,12 -> 1
13,7,13 -> 1
14,0,14 -> 1
14,1,8 -> 1
14,2,16 -> 1
14,3,12 -> 1
15,0,15 -> 1
15,1,9 -> 1
15,2,17 -> 1
15,3,13 -> 1
14,5,14 -> 1
15,5,15 -> 1
14,6,14 -> 1
15,6,15 -> 1
14,7,14 -> 1
15,7,15 -> 1
16,0,16 -> 1
16,1,10 -> 1
16,2,18 -> 1
16,3,14 -> 1
17,0,17 -> 1
17,1,11 -> 1
17,2,18 -> 1
17,3,15 -> 1
16,4,16 -> 1
17,4,16 -> pt_1.0
17,4,17 -> 1-pt_1.0
16,5,16 -> 1
17,5,17 -> 1
16,6,16 -> 1
17,6,17 -> 1
16,7,16 -> 1
17,7,17 -> 1
18,_,18 -> 1

# Observation function (a,s,o -> p)
0,0,2 -> 1
0,1,2 -> 1
0,2,2 -> 1
0,3,2 -> 1
0,4,2 -> 1
0,5,2 -> 1
0,6,2 -> 1
0,7,2 -> 1
0,8,2 -> 1
0,9,2 -> 1
0,10,2 -> 1
0,11,2 -> 1
0,12,2 -> 1
0,13,2 -> 1
0,14,2 -> 1
0,15,2 -> 1
0,16,2 -> 1
0,17,2 -> 1
1,0,2 -> 1
1,1,2 -> 1
1,2,2 -> 1
1,3,2 -> 1
1,4,2 -> 1
1,5,2 -> 1
1,6,2 -> 1
1,7,2 -> 1
1,8,2 -> 1
1,9,2 -> 1
1,10,2 -> 1
1,11,2 -> 1
1,12,2 -> 1
1,13,2 -> 1
1,14,2 -> 1
1,15,2 -> 1
1,16,2 -> 1
1,17,2 -> 1
2,0,2 -> 1
2,1,2 -> 1
2,2,2 -> 1
2,3,2 -> 1
2,4,2 -> 1
2,5,2 -> 1
2,6,2 -> 1
2,7,2 -> 1
2,8,2 -> 1
2,9,2 -> 1
2,10,2 -> 1
2,11,2 -> 1
2,12,2 -> 1
2,13,2 -> 1
2,14,2 -> 1
2,15,2 -> 1
2,16,2 -> 1
2,17,2 -> 1
3,0,2 -> 1
3,1,2 -> 1
3,2,2 -> 1
3,3,2 -> 1
3,4,2 -> 1
3,5,2 -> 1
3,6,2 -> 1
3,7,2 -> 1
3,8,2 -> 1
3,9,2 -> 1
3,10,2 -> 1
3,11,2 -> 1
3,12,2 -> 1
3,13,2 -> 1
3,14,2 -> 1
3,15,2 -> 1
3,16,2 -> 1
3,17,2 -> 1
4,0,2 -> 1
4,1,2 -> 1
4,2,2 -> 1
4,3,2 -> 1
4,4,2 -> 1
4,5,2 -> 1
4,6,2 -> 1
4,7,2 -> 1
4,8,2 -> 1
4,9,2 -> 1
4,10,2 -> 1
4,11,2 -> 1
4,12,2 -> 1
4,13,2 -> 1
4,14,2 -> 1
4,15,2 -> 1
4,16,2 -> 1
4,17,2 -> 1
5,0,1 -> po_0.0_0
5,0,0 -> 1-po_0.0_0
5,1,1 -> po_0.1_0
5,1,0 -> 1-po_0.1_0
5,2,1 -> po_0.0_1
5,2,0 -> 1-po_0.0_1
5,3,1 -> po_0.1_1
5,3,0 -> 1-po_0.1_1
5,4,1 -> po_0.0_0
5,4,0 -> 1-po_0.0_0
5,5,1 -> po_0.1_0
5,5,0 -> 1-po_0.1_0
5,6,1 -> po_0.0_1
5,6,0 -> 1-po_0.0_1
5,7,1 -> po_0.1_1
5,7,0 -> 1-po_0.1_1
5,8,1 -> po_0.0_2
5,8,0 -> 1-po_0.0_2
5,9,1 -> po_0.1_2
5,9,0 -> 1-po_0.1_2
5,10,1 -> po_0.0_1
5,10,0 -> 1-po_0.0_1
5,11,1 -> po_0.1_1
5,11,0 -> 1-po_0.1_1
5,12,1 -> po_0.0_0
5,12,0 -> 1-po_0.0_0
5,13,1 -> po_0.1_0
5,13,0 -> 1-po_0.1_0
5,14,1 -> po_0.0_1
5,14,0 -> 1-po_0.0_1
5,15,1 -> po_0.1_1
5,15,0 -> 1-po_0.1_1
5,16,1 -> po_0.0_0
5,16,0 -> 1-po_0.0_0
5,17,1 -> po_0.1_0
5,17,0 -> 1-po_0.1_0
6,0,1 -> po_1.0_3
6,0,0 -> 1-po_1.0_3
6,1,1 -> po_1.1_3
6,1,0 -> 1-po_1.1_3
6,2,1 -> po_1.0_4
6,2,0 -> 1-po_1.0_4
6,3,1 -> po_1.1_4
6,3,0 -> 1-po_1.1_4
6,4,1 -> po_1.0_5
6,4,0 -> 1-po_1.0_5
6,5,1 -> po_1.1_5
6,5,0 -> 1-po_1.1_5
6,6,1 -> po_1.0_4
6,6,0 -> 1-po_1.0_4
6,7,1 -> po_1.1_4
6,7,0 -> 1-po_1.1_4
6,8,1 -> po_1.0_0
6,8,0 -> 1-po_1.0_0
6,9,1 -> po_1.1_0
6,9,0 -> 1-po_1.1_0
6,10,1 -> po_1.0_1
6,10,0 -> 1-po_1.0_1
6,11,1 -> po_1.1_1
6,11,0 -> 1-po_1.1_1
6,12,1 -> po_1.0_5
6,12,0 -> 1-po_1.0_5
6,13,1 -> po_1.1_5
6,13,0 -> 1-po_1.1_5
6,14,1 -> po_1.0_1
6,14,0 -> 1-po_1.0_1
6,15,1 -> po_1.1_1
6,15,0 -> 1-po_1.1_1
6,16,1 -> po_1.0_2
6,16,0 -> 1-po_1.0_2
6,17,1 -> po_1.1_2
6,17,0 -> 1-po_1.1_2
7,0,1 -> po_2.0_5
7,0,0 -> 1-po_2.0_5
7,1,1 -> po_2.1_5
7,1,0 -> 1-po_2.1_5
7,2,1 -> po_2.0_1
7,2,0 -> 1-po_2.0_1
7,3,1 -> po_2.1_1
7,3,0 -> 1-po_2.1_1
7,4,1 -> po_2.0_2
7,4,0 -> 1-po_2.0_2
7,5,1 -> po_2.1_2
7,5,0 -> 1-po_2.1_2
7,6,1 -> po_2.0_4
7,6,0 -> 1-po_2.0_4
7,7,1 -> po_2.1_4
7,7,0 -> 1-po_2.1_4
7,8,1 -> po_2.0_0
7,8,0 -> 1-po_2.0_0
7,9,1 -> po_2.1_0
7,9,0 -> 1-po_2.1_0
7,10,1 -> po_2.0_1
7,10,0 -> 1-po_2.0_1
7,11,1 -> po_2.1_1
7,11,0 -> 1-po_2.1_1
7,12,1 -> po_2.0_3
7,12,0 -> 1-po_2.0_3
7,13,1 -> po_2.1_3
7,13,0 -> 1-po_2.1_3
7,14,1 -> po_2.0_4
7,14,0 -> 1-po_2.0_4
7,15,1 -> po_2.1_4
7,15,0 -> 1-po_2.1_4
7,16,1 -> po_2.0_5
7,16,0 -> 1-po_2.0_5
7,17,1 -> po_2.1_5
7,17,0 -> 1-po_2.1_5
_,18,2 -> 1

# Reward function (s,a -> r)
4,4 -> r_2.0
5,4 -> r_2.1
4,2 -> 10
5,2 -> 10
8,4 -> r_0.0
9,4 -> r_0.1
10,2 -> 10
11,2 -> 10
16,4 -> r_1.0
17,4 -> r_1.1
16,2 -> 10
17,2 -> 10

# Initial beliefs (s -> p)
1 -> 1