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floor.", + "Pick up the baseball bat from the floor.", + "Turn left and walk towards the end of the desk on your right.", + "Turn on the lamp on the desk" + ], + "task_desc": "Examine the baseball bat next to the light of the lamp on the desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3ZSY5X72N0SYME4UK3RDTOUULJAROA", + "high_descs": [ + "Turn around and go left to the bat in the corner of the room.", + "Pick the bat up from the floor.", + "Go left and stand in front of the night stand to the right of the bed.", + "Turn the light on that is on the left edge of the larger table." + ], + "task_desc": "Turn a light on with a bat in hand.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Box-None-DeskLamp-205/trial_T20190907_074425_330493/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Box-None-DeskLamp-205/trial_T20190907_074425_330493/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b08137f4247e794a982326d0cb58ff448543dff6 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Box-None-DeskLamp-205/trial_T20190907_074425_330493/initial_state.pddl @@ -0,0 +1,526 @@ + +(define (problem plan_trial_T20190907_074425_330493) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85 - object + Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 - object + Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 - object + Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 - object + Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 - object + Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 - object + CreditCard_bar__minus_01_dot_94_bar__plus_00_dot_84_bar__plus_06_dot_77 - object + CreditCard_bar__minus_02_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_70 - object + CreditCard_bar__minus_04_dot_14_bar__plus_00_dot_48_bar__plus_04_dot_40 - object + Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 - object + DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 - object + FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 - object + KeyChain_bar__minus_03_dot_36_bar__plus_00_dot_40_bar__plus_03_dot_81 - object + Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 - object + Laptop_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 - object + LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 - object + Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 - object + Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40 - object + RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_48 - object + RemoteControl_bar__minus_04_dot_30_bar__plus_00_dot_49_bar__plus_04_dot_86 - object + Statue_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_70 - object + Statue_bar__minus_02_dot_20_bar__plus_00_dot_85_bar__plus_06_dot_83 - object + Statue_bar__minus_04_dot_23_bar__plus_00_dot_49_bar__plus_03_dot_55 - object + Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 - object + Watch_bar__minus_01_dot_94_bar__plus_00_dot_84_bar__plus_06_dot_90 - object + Watch_bar__minus_03_dot_59_bar__plus_00_dot_07_bar__plus_06_dot_72 - object + WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 - object + ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 - receptacle + ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 - receptacle + DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 - receptacle + Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle + Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 - receptacle + GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 - receptacle + Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 - receptacle + SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 - receptacle + SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 - receptacle + SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 - receptacle + Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 - receptacle + loc_bar__minus_15_bar_18_bar_2_bar_60 - location + loc_bar__minus_12_bar_23_bar_0_bar_45 - location + loc_bar__minus_18_bar_12_bar_0_bar_60 - location + loc_bar__minus_13_bar_24_bar_0_bar_60 - location + loc_bar__minus_7_bar_24_bar_0_bar_60 - location + loc_bar__minus_10_bar_23_bar_0_bar_45 - location + loc_bar__minus_11_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_26_bar_1_bar_60 - location + loc_bar__minus_6_bar_9_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_60 - location + loc_bar__minus_13_bar_21_bar_3_bar_60 - location + loc_bar__minus_9_bar_2_bar_1_bar_60 - location + loc_bar__minus_3_bar_3_bar_1_bar__minus_30 - location + loc_bar__minus_10_bar_20_bar_2_bar_60 - location + loc_bar__minus_12_bar_22_bar_0_bar_45 - location + loc_bar__minus_2_bar_6_bar_3_bar_60 - location + loc_bar__minus_6_bar_25_bar_0_bar_60 - location + loc_bar__minus_14_bar_2_bar_2_bar_15 - location + loc_bar__minus_14_bar_22_bar_0_bar_45 - location + loc_bar__minus_15_bar_11_bar_0_bar_60 - location + loc_bar__minus_3_bar_22_bar_1_bar__minus_30 - location + loc_bar__minus_2_bar_7_bar_1_bar_30 - location + loc_bar__minus_13_bar_17_bar_2_bar_60 - location + loc_bar__minus_3_bar_13_bar_1_bar_60 - location + loc_bar__minus_10_bar_10_bar_0_bar_60 - location + loc_bar__minus_19_bar_5_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 OttomanType) + (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType) + (receptacleType ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 ArmChairType) + (receptacleType GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 GarbageCanType) + (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 SideTableType) + (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType) + (receptacleType DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 DiningTableType) + (receptacleType SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 SideTableType) + (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType) + (receptacleType Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 DresserType) + (receptacleType ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 ArmChairType) + (receptacleType SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 SideTableType) + (receptacleType Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 SofaType) + (objectType Watch_bar__minus_03_dot_59_bar__plus_00_dot_07_bar__plus_06_dot_72 WatchType) + (objectType CreditCard_bar__minus_04_dot_14_bar__plus_00_dot_48_bar__plus_04_dot_40 CreditCardType) + (objectType Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType) + (objectType FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 FloorLampType) + (objectType Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 CurtainsType) + (objectType CreditCard_bar__minus_01_dot_94_bar__plus_00_dot_84_bar__plus_06_dot_77 CreditCardType) + (objectType Watch_bar__minus_01_dot_94_bar__plus_00_dot_84_bar__plus_06_dot_90 WatchType) + (objectType Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 BoxType) + (objectType WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 WateringCanType) + (objectType Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 ChairType) + (objectType Statue_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_70 StatueType) + (objectType Statue_bar__minus_02_dot_20_bar__plus_00_dot_85_bar__plus_06_dot_83 StatueType) + (objectType CreditCard_bar__minus_02_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_70 CreditCardType) + (objectType RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_48 RemoteControlType) + (objectType LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 LightSwitchType) + (objectType Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 LaptopType) + (objectType Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40 PillowType) + (objectType Laptop_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 LaptopType) + (objectType RemoteControl_bar__minus_04_dot_30_bar__plus_00_dot_49_bar__plus_04_dot_86 RemoteControlType) + (objectType KeyChain_bar__minus_03_dot_36_bar__plus_00_dot_40_bar__plus_03_dot_81 KeyChainType) + (objectType Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 PaintingType) + (objectType Statue_bar__minus_04_dot_23_bar__plus_00_dot_49_bar__plus_03_dot_55 StatueType) + (objectType Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType) + (objectType DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 DeskLampType) + (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 WindowType) + (objectType HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 HousePlantType) + (objectType Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 TelevisionType) + (objectType Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 ChairType) + (objectType Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85 BoxType) + (canContain OttomanType PillowType) + (canContain OttomanType RemoteControlType) + (canContain OttomanType KeyChainType) + (canContain OttomanType LaptopType) + (canContain OttomanType CreditCardType) + (canContain OttomanType BoxType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType WateringCanType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType WatchType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType WateringCanType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType StatueType) + (canContain DiningTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType WateringCanType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DrawerType KeyChainType) + (canContain DrawerType WatchType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CreditCardType) + (canContain DresserType KeyChainType) + (canContain DresserType WatchType) + (canContain DresserType RemoteControlType) + (canContain DresserType WateringCanType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType StatueType) + (canContain DresserType BoxType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType WatchType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType WateringCanType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType StatueType) + (canContain SideTableType BoxType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (pickupable Watch_bar__minus_03_dot_59_bar__plus_00_dot_07_bar__plus_06_dot_72) + (pickupable CreditCard_bar__minus_04_dot_14_bar__plus_00_dot_48_bar__plus_04_dot_40) + (pickupable CreditCard_bar__minus_01_dot_94_bar__plus_00_dot_84_bar__plus_06_dot_77) + (pickupable Watch_bar__minus_01_dot_94_bar__plus_00_dot_84_bar__plus_06_dot_90) + (pickupable Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13) + (pickupable WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23) + (pickupable Statue_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_70) + (pickupable Statue_bar__minus_02_dot_20_bar__plus_00_dot_85_bar__plus_06_dot_83) + (pickupable CreditCard_bar__minus_02_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_70) + (pickupable RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_48) + (pickupable Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49) + (pickupable Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40) + (pickupable Laptop_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56) + (pickupable RemoteControl_bar__minus_04_dot_30_bar__plus_00_dot_49_bar__plus_04_dot_86) + (pickupable KeyChain_bar__minus_03_dot_36_bar__plus_00_dot_40_bar__plus_03_dot_81) + (pickupable Statue_bar__minus_04_dot_23_bar__plus_00_dot_49_bar__plus_03_dot_55) + (pickupable Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85) + (isReceptacleObject Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13) + (isReceptacleObject Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85) + (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71) + (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71) + (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71) + (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71) + + (atLocation agent1 loc_bar__minus_19_bar_5_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69) + (toggleable DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31) + + + + + (inReceptacle Watch_bar__minus_03_dot_59_bar__plus_00_dot_07_bar__plus_06_dot_72 Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71) + (inReceptacle CreditCard_bar__minus_02_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_70 Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71) + (inReceptacle Statue_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_70 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Statue_bar__minus_02_dot_20_bar__plus_00_dot_85_bar__plus_06_dot_83 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70) + (inReceptacle CreditCard_bar__minus_01_dot_94_bar__plus_00_dot_84_bar__plus_06_dot_77 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70) + (inReceptacle Watch_bar__minus_01_dot_94_bar__plus_00_dot_84_bar__plus_06_dot_90 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70) + (inReceptacle HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52) + (inReceptacle DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52) + (inReceptacle Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79) + (inReceptacle RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_48 ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50) + (inReceptacle Laptop_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06) + (inReceptacle RemoteControl_bar__minus_04_dot_30_bar__plus_00_dot_49_bar__plus_04_dot_86 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06) + (inReceptacle Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06) + (inReceptacle CreditCard_bar__minus_04_dot_14_bar__plus_00_dot_48_bar__plus_04_dot_40 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06) + (inReceptacle Statue_bar__minus_04_dot_23_bar__plus_00_dot_49_bar__plus_03_dot_55 SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 loc_bar__minus_10_bar_10_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 loc_bar__minus_15_bar_18_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 loc_bar__minus_6_bar_9_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_14_bar_22_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_10_bar_23_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_12_bar_22_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_12_bar_23_bar_0_bar_45) + (receptacleAtLocation Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 loc_bar__minus_13_bar_24_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 loc_bar__minus_3_bar_26_bar_1_bar_60) + (receptacleAtLocation Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 loc_bar__minus_10_bar_20_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 loc_bar__minus_4_bar_14_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 loc_bar__minus_7_bar_24_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 loc_bar__minus_15_bar_11_bar_0_bar_60) + (receptacleAtLocation Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_48 loc_bar__minus_10_bar_10_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_94_bar__plus_00_dot_84_bar__plus_06_dot_77 loc_bar__minus_7_bar_24_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_68_bar__plus_00_dot_75_bar__plus_01_dot_49 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_94_bar__plus_00_dot_84_bar__plus_06_dot_90 loc_bar__minus_7_bar_24_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_31_bar__plus_00_dot_76_bar__plus_01_dot_70 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Box_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__plus_06_dot_85 loc_bar__minus_6_bar_25_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_04_dot_14_bar__plus_00_dot_48_bar__plus_04_dot_40 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_04_dot_23_bar__plus_00_dot_49_bar__plus_03_dot_55 loc_bar__minus_15_bar_11_bar_0_bar_60) + (objectAtLocation Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 loc_bar__minus_3_bar_3_bar_1_bar__minus_30) + (objectAtLocation Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 loc_bar__minus_9_bar_2_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_11_bar_5_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 loc_bar__minus_3_bar_22_bar_1_bar__minus_30) + (objectAtLocation Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_2_bar_6_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_20_bar__plus_00_dot_85_bar__plus_06_dot_83 loc_bar__minus_7_bar_24_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_03_dot_59_bar__plus_00_dot_07_bar__plus_06_dot_72 loc_bar__minus_12_bar_22_bar_0_bar_45) + (objectAtLocation FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 loc_bar__minus_18_bar_12_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_3_bar_13_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_04_dot_30_bar__plus_00_dot_48_bar__plus_05_dot_56 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 loc_bar__minus_13_bar_24_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_70 loc_bar__minus_14_bar_22_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_03_dot_36_bar__plus_00_dot_40_bar__plus_03_dot_81 loc_bar__minus_13_bar_17_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 loc_bar__minus_4_bar_14_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 loc_bar__minus_14_bar_2_bar_2_bar_15) + (objectAtLocation Pillow_bar__minus_04_dot_34_bar__plus_00_dot_47_bar__plus_04_dot_40 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_04_dot_30_bar__plus_00_dot_49_bar__plus_04_dot_86 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_4_bar_14_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o BoxType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Box-None-DeskLamp-205/trial_T20190907_074425_330493/traj_data.json b/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Box-None-DeskLamp-205/trial_T20190907_074425_330493/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..20a53a7f232c23ea43d16142eb11e3a1fe899e5e --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Box-None-DeskLamp-205/trial_T20190907_074425_330493/traj_data.json @@ -0,0 +1,2545 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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"Pillow_65434bec", + "position": { + "x": -4.335, + "y": 0.465, + "z": 4.398 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_ce66a10f", + "position": { + "x": -2.485116, + "y": 0.4569182, + "z": 3.4761045 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3328628780, + "scene_num": 205 + }, + "task_id": "trial_T20190907_074425_330493", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_323Q6SJS8LXRR7DYPVWTSQJA655FHR", + "high_descs": [ + "Go right and stand in front of the table where the computer and box sit.", + "Pick the box up from the table.", + "Go left and stand in front of the lamp on the black table.", + "Turn on the lamp on the black table." + ], + "task_desc": "Turn on a light with a box in hand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_39L1G8WVWT8L7KCR3BS6ZUE6LPI13G", + "high_descs": [ + "Turn right and walk up to the square table", + "Pick up the box from the table", + "Turn left and walk to the small black table by the fireplace", + "Turn on the table lamp that's on the table" + ], + "task_desc": "Examine the box under the light of the table lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3KWTYT0873K1B63ZA4YIY6L4YSZL5K", + "high_descs": [ + "Turn right and walk to the dining table.", + "Pick up the empty box from the dining table.", + "Walk to the lamp on the desk to the left of the dining table.", + "Turn on the lamp." + ], + "task_desc": "Examine an empty box by the light of a desk lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Pillow-None-FloorLamp-223/trial_T20190906_201007_149137/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Pillow-None-FloorLamp-223/trial_T20190906_201007_149137/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ec57cd6a97e64b4031d3af73a3060fc800128c39 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Pillow-None-FloorLamp-223/trial_T20190906_201007_149137/initial_state.pddl @@ -0,0 +1,486 @@ + +(define (problem plan_trial_T20190906_201007_149137) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_55 - object + Candle_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_92 - object + Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 - object + Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 - object + Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 - object + Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 - object + CreditCard_bar__minus_01_dot_75_bar__plus_00_dot_23_bar__plus_02_dot_90 - object + CreditCard_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__plus_00_dot_15 - object + FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 - object + HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 - object + KeyChain_bar__plus_01_dot_44_bar__plus_00_dot_78_bar__minus_00_dot_05 - object + KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_55 - object + Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12 - object + LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 - object + Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 - object + Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 - object + Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 - object + Plate_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_42 - object + Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 - object + RemoteControl_bar__plus_01_dot_88_bar__plus_00_dot_79_bar__minus_00_dot_66 - object + RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 - object + Statue_bar__plus_01_dot_88_bar__plus_00_dot_79_bar__minus_00_dot_05 - object + Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54 - object + Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object + Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_42 - object + Vase_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_75 - object + Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_40 - object + WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 - object + Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 - object + ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 - receptacle + ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 - receptacle + ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 - receptacle + CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 - receptacle + DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 - receptacle + DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 - receptacle + GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 - receptacle + Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 - receptacle + TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 - receptacle + loc_bar__minus_9_bar_7_bar_0_bar_60 - location + loc_bar__minus_13_bar_7_bar_3_bar_30 - location + loc_bar_9_bar_3_bar_2_bar_60 - location + loc_bar_8_bar__minus_5_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_6_bar_5_bar_1_bar_60 - location + loc_bar__minus_5_bar_7_bar_1_bar_0 - location + loc_bar__minus_11_bar_0_bar_3_bar_60 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar_14_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_5_bar_8_bar_1_bar_60 - location + loc_bar__minus_11_bar__minus_6_bar_1_bar_15 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_45 - location + loc_bar_7_bar__minus_5_bar_0_bar_60 - location + loc_bar__minus_11_bar__minus_2_bar_3_bar_60 - location + loc_bar_9_bar__minus_5_bar_0_bar_60 - location + loc_bar_3_bar_4_bar_3_bar_60 - location + loc_bar_14_bar__minus_1_bar_1_bar_0 - location + loc_bar__minus_8_bar_7_bar_0_bar_60 - location + loc_bar_6_bar_3_bar_2_bar_60 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_6_bar_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_8_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType) + (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType) + (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType) + (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType) + (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType) + (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType) + (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType) + (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType) + (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType) + (objectType Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_42 VaseType) + (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType) + (objectType CreditCard_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__plus_00_dot_15 CreditCardType) + (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType) + (objectType Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 PillowType) + (objectType Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_55 BoxType) + (objectType CreditCard_bar__minus_01_dot_75_bar__plus_00_dot_23_bar__plus_02_dot_90 CreditCardType) + (objectType KeyChain_bar__plus_01_dot_44_bar__plus_00_dot_78_bar__minus_00_dot_05 KeyChainType) + (objectType Candle_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_92 CandleType) + (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType) + (objectType Vase_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_75 VaseType) + (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType) + (objectType Plate_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_42 PlateType) + (objectType RemoteControl_bar__plus_01_dot_88_bar__plus_00_dot_79_bar__minus_00_dot_66 RemoteControlType) + (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType) + (objectType Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 PlateType) + (objectType RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 RemoteControlType) + (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType) + (objectType KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_55 KeyChainType) + (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType) + (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType) + (objectType Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12 LaptopType) + (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType) + (objectType Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54 StatueType) + (objectType Statue_bar__plus_01_dot_88_bar__plus_00_dot_79_bar__minus_00_dot_05 StatueType) + (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType) + (objectType Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_40 VaseType) + (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType WateringCanType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType BoxType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType LaptopType) + (canContain SofaType CreditCardType) + (canContain SofaType BoxType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType WateringCanType) + (canContain DiningTableType VaseType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType StatueType) + (canContain DiningTableType PlateType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType WateringCanType) + (canContain DiningTableType VaseType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType StatueType) + (canContain DiningTableType PlateType) + (canContain DiningTableType BoxType) + (pickupable Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_42) + (pickupable CreditCard_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__plus_00_dot_15) + (pickupable Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50) + (pickupable Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_55) + (pickupable CreditCard_bar__minus_01_dot_75_bar__plus_00_dot_23_bar__plus_02_dot_90) + (pickupable KeyChain_bar__plus_01_dot_44_bar__plus_00_dot_78_bar__minus_00_dot_05) + (pickupable Candle_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_92) + (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86) + (pickupable Vase_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_75) + (pickupable Plate_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_42) + (pickupable RemoteControl_bar__plus_01_dot_88_bar__plus_00_dot_79_bar__minus_00_dot_66) + (pickupable Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27) + (pickupable RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15) + (pickupable KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_55) + (pickupable Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12) + (pickupable Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54) + (pickupable Statue_bar__plus_01_dot_88_bar__plus_00_dot_79_bar__minus_00_dot_05) + (pickupable Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_40) + (isReceptacleObject Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_55) + (isReceptacleObject Plate_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_42) + (isReceptacleObject Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27) + + + (atLocation agent1 loc_bar__minus_8_bar__minus_3_bar_0_bar_30) + + (cleanable Plate_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_42) + (cleanable Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27) + + (heatable Plate_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_42) + (heatable Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27) + (coolable Plate_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_42) + (coolable Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27) + + + (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73) + + + + + (inReceptacle Candle_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_92 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58) + (inReceptacle KeyChain_bar__plus_01_dot_44_bar__plus_00_dot_78_bar__minus_00_dot_05 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_42 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Plate_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_42 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle RemoteControl_bar__plus_01_dot_88_bar__plus_00_dot_79_bar__minus_00_dot_66 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Statue_bar__plus_01_dot_88_bar__plus_00_dot_79_bar__minus_00_dot_05 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_55 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle CreditCard_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__plus_00_dot_15 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_40 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Vase_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_75 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + (inReceptacle CreditCard_bar__minus_01_dot_75_bar__plus_00_dot_23_bar__plus_02_dot_90 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 loc_bar__minus_6_bar_5_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 loc_bar__minus_6_bar_8_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 loc_bar__minus_3_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_bar_60) + (receptacleAtLocation DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 loc_bar_8_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 loc_bar__minus_9_bar_7_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 loc_bar_3_bar_4_bar_3_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 loc_bar__minus_11_bar_0_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_55 loc_bar__minus_11_bar__minus_2_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__plus_01_dot_88_bar__plus_00_dot_79_bar__minus_00_dot_66 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_75_bar__plus_00_dot_23_bar__plus_02_dot_90 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_40 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 loc_bar_7_bar__minus_5_bar_0_bar_60) + (objectAtLocation Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_55 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 loc_bar_9_bar__minus_5_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 loc_bar_6_bar_3_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 loc_bar_9_bar_3_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_92 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_75 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__plus_00_dot_15 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_42 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 loc_bar__minus_11_bar__minus_6_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 loc_bar__minus_13_bar_7_bar_3_bar_30) + (objectAtLocation Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 loc_bar__minus_5_bar_8_bar_1_bar_60) + (objectAtLocation Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_44_bar__plus_00_dot_78_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 loc_bar__minus_5_bar_7_bar_1_bar_0) + (objectAtLocation Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 loc_bar_14_bar__minus_1_bar_1_bar_0) + (objectAtLocation Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 loc_bar__minus_3_bar__minus_5_bar_3_bar_60) + (objectAtLocation Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 loc_bar__minus_11_bar__minus_6_bar_3_bar_45) + (objectAtLocation Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar__minus_11_bar__minus_6_bar_1_bar_15) + (objectAtLocation Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 loc_bar_14_bar__minus_5_bar_2_bar_15) + (objectAtLocation Plate_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_42 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Statue_bar__plus_01_dot_88_bar__plus_00_dot_79_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o PillowType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Pillow-None-FloorLamp-223/trial_T20190906_201007_149137/traj_data.json b/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Pillow-None-FloorLamp-223/trial_T20190906_201007_149137/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..bf4e804a732d83a011c1cb4e66d5d74669c4a833 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/look_at_obj_in_light-Pillow-None-FloorLamp-223/trial_T20190906_201007_149137/traj_data.json @@ -0,0 +1,3159 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + 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"objectName": "Pillow_c72f46b8", + "position": { + "x": -1.921, + "y": 0.36, + "z": -1.50013351 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_7df19082", + "position": { + "x": -2.102423, + "y": 0.454615653, + "z": 0.273055881 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_eefd1644", + "position": { + "x": 1.884, + "y": 0.794364, + "z": -0.0455313325 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 4131672350, + "scene_num": 223 + }, + "task_id": "trial_T20190906_201007_149137", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3FY6THWKRYN9M_3LKC68YZ3DK3UALGJX1JGN2BC5DOWB", + "high_descs": [ + "Take right, take another right, walk to chair", + "Grab pillow from chair", + "Take right, walk forward to the television stand, turn to face chair on right", + "Turn on lamp next to chair" + ], + "task_desc": "hold a pillow while turning on a lamp", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3A1PQ49WVKY01SJQIWH83OFG46TH1K", + "high_descs": [ + "Turn right and take a step, then turn right again, walk up to the wall, and turn right to face the chair.", + "Pick up the white pillow off of the seat of the chair.", + "Turn right and walk over to the tall lamp in the corner of the room.", + "Turn on the light of the tall lamp." + ], + "task_desc": "Examine a pillow in the light of a tall lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1AKL5YH9NLD2V_3FDJT1UU77PQR0LHP4MHJ68P9465K1", + "high_descs": [ + "Turn around and walk to the left side of the white chair.", + "Pick up the white cushion from the chair.", + "Turn right and walk to the tall lamp in the corner.", + "Turn on the lamp." + ], + "task_desc": "Turn on the tall lamp in the corner while carrying a white cushion.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3KGTPGBS602CVZ761ZOLRMEBQ86U2O", + "high_descs": [ + "Turn around and face the tan chair that is under the window", + "Pick up the tan cushion on the chair", + "Move across the room with the cushion to the other chair that is closest to the green floor lamp", + "Turn on the green floor lamp" + ], + "task_desc": "Move a chair cushion across the room, next turn on the lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/game.tw-pddl b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..aadeea777756fdd916416241f3ef68465817b96e --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some box on dresser.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_164104_229696)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 - object\n Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30 - object\n Box_bar__plus_03_dot_17_bar__plus_00_dot_21_bar__minus_00_dot_05 - object\n 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Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 - object\n LightSwitch_bar__minus_00_dot_93_bar__plus_01_dot_32_bar__plus_02_dot_85 - object\n Newspaper_bar__plus_00_dot_16_bar__plus_00_dot_92_bar__plus_02_dot_43 - object\n Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19 - object\n Painting_bar__plus_03_dot_37_bar__plus_01_dot_79_bar__minus_00_dot_95 - object\n Painting_bar__minus_01_dot_56_bar__plus_01_dot_41_bar__minus_02_dot_32 - object\n Painting_bar__minus_03_dot_49_bar__plus_01_dot_39_bar__minus_00_dot_51 - object\n Pillow_bar__minus_02_dot_81_bar__plus_00_dot_62_bar__plus_01_dot_81 - object\n RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_01_dot_22 - object\n Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_57 - object\n Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 - object\n Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15 - object\n Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18 - object\n WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92 - object\n Window_bar__plus_01_dot_13_bar__plus_01_dot_22_bar__minus_02_dot_74 - object\n Window_bar__plus_02_dot_01_bar__plus_01_dot_22_bar__minus_02_dot_74 - object\n Window_bar__plus_02_dot_90_bar__plus_01_dot_22_bar__minus_02_dot_74 - object\n Window_bar__minus_00_dot_19_bar__plus_01_dot_16_bar__minus_02_dot_56 - object\n Window_bar__minus_02_dot_97_bar__plus_01_dot_16_bar__minus_02_dot_56 - object\n Window_bar__minus_03_dot_37_bar__plus_01_dot_18_bar__minus_01_dot_54 - object\n ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 - receptacle\n Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_01_dot_40 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 - receptacle\n Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 - receptacle\n Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 - receptacle\n Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 - receptacle\n Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49 - receptacle\n Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 - receptacle\n GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 - receptacle\n SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37 - receptacle\n SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 - receptacle\n SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57 - 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loc_bar_10_bar__minus_9_bar_2_bar_45 - location\n loc_bar_11_bar__minus_3_bar_0_bar_60 - location\n loc_bar_4_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_4_bar_9_bar_1_bar_45 - location\n loc_bar__minus_5_bar_6_bar_1_bar_45 - location\n loc_bar_9_bar_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_8_bar_2_bar_30 - location\n loc_bar__minus_10_bar__minus_6_bar_0_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_5_bar_2_bar_1_bar_45 - location\n loc_bar_11_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar_8_bar_1_bar_60 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 DrawerType)\n (receptacleType 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DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType LaptopType)\n (canContain SofaType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType NewspaperType)\n (canContain SofaType BookType)\n (canContain GarbageCanType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType VaseType)\n (canContain SideTableType 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(canContain SideTableType KeyChainType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType 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DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType WateringCanType)\n (canContain DresserType VaseType)\n (canContain DresserType CreditCardType)\n (canContain DresserType NewspaperType)\n (canContain DresserType LaptopType)\n (canContain DresserType StatueType)\n (canContain DresserType BoxType)\n (canContain DresserType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType BookType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType StatueType)\n (canContain SideTableType BoxType)\n (canContain SideTableType BookType)\n (pickupable Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30)\n (pickupable Newspaper_bar__plus_00_dot_16_bar__plus_00_dot_92_bar__plus_02_dot_43)\n (pickupable Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98)\n (pickupable RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_01_dot_22)\n (pickupable CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_01_dot_84)\n (pickupable Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87)\n (pickupable Vase_bar__minus_01_dot_05_bar__plus_01_dot_20_bar__minus_02_dot_15)\n (pickupable Box_bar__plus_03_dot_17_bar__plus_00_dot_21_bar__minus_00_dot_05)\n (pickupable Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19)\n (pickupable Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07)\n (pickupable WateringCan_bar__plus_02_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_92)\n (pickupable Vase_bar__minus_02_dot_17_bar__plus_01_dot_20_bar__minus_02_dot_18)\n (pickupable KeyChain_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_02_dot_19)\n (pickupable Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_57)\n (pickupable CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_70)\n (pickupable Pillow_bar__minus_02_dot_81_bar__plus_00_dot_62_bar__plus_01_dot_81)\n (pickupable CreditCard_bar__minus_00_dot_30_bar__plus_00_dot_91_bar__plus_01_dot_95)\n (isReceptacleObject Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30)\n (isReceptacleObject Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98)\n (isReceptacleObject Box_bar__plus_03_dot_17_bar__plus_00_dot_21_bar__minus_00_dot_05)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42)\n (openable Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47)\n (openable Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57)\n (openable Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_3_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34)\n (toggleable DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47)\n \n \n \n \n (inReceptacleObject Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19 Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98)\n (inReceptacle DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40)\n (inReceptacle CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_01_dot_84 ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04)\n (inReceptacle Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04)\n (inReceptacle Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39)\n (inReceptacle Pillow_bar__minus_02_dot_81_bar__plus_00_dot_62_bar__plus_01_dot_81 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39)\n (inReceptacle Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98 Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39)\n (inReceptacle Newspaper_bar__plus_00_dot_16_bar__plus_00_dot_92_bar__plus_02_dot_43 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle CreditCard_bar__minus_00_dot_30_bar__plus_00_dot_91_bar__plus_01_dot_95 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle RemoteControl_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_01_dot_22 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_91_bar__plus_01_dot_70 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle KeyChain_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_02_dot_19 Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72)\n (inReceptacle Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_57 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57)\n (inReceptacle Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30 SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37)\n \n \n (receptacleAtLocation ArmChair_bar__minus_02_dot_86_bar__plus_00_dot_02_bar__minus_02_dot_04 loc_bar__minus_9_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_02_dot_02 loc_bar_0_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_00_dot_37 loc_bar_9_bar_6_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__plus_01_dot_40 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_09_bar__minus_00_dot_57 loc_bar_9_bar_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_00_dot_37 loc_bar_10_bar_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__plus_01_dot_40 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_57 loc_bar_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_00_dot_99 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_47 loc_bar__minus_5_bar_8_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_01_dot_94 loc_bar__minus_5_bar_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_22_bar__plus_02_dot_42 loc_bar__minus_5_bar_8_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_00_dot_99 loc_bar__minus_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_47 loc_bar__minus_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_01_dot_94 loc_bar__minus_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_47_bar__plus_02_dot_42 loc_bar__minus_5_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_00_dot_99 loc_bar__minus_4_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_47 loc_bar__minus_4_bar_7_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_01_dot_94 loc_bar__minus_4_bar_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_72_bar__plus_02_dot_42 loc_bar__minus_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_17_bar__plus_00_dot_45_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_13_bar__plus_00_dot_09_bar__minus_00_dot_49 loc_bar__minus_10_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_13_bar__plus_00_dot_34_bar__minus_00_dot_49 loc_bar__minus_10_bar__minus_6_bar_0_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_02_bar__plus_00_dot_01_bar__plus_01_dot_72 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_89 loc_bar_11_bar_4_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_37 loc_bar_11_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__plus_01_dot_40 loc_bar_11_bar_2_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_03_dot_16_bar__plus_00_dot_02_bar__minus_00_dot_57 loc_bar_10_bar__minus_7_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_17_bar__plus_00_dot_01_bar__minus_02_dot_24 loc_bar__minus_3_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_03_dot_30_bar__plus_00_dot_02_bar__minus_00_dot_49 loc_bar__minus_10_bar_0_bar_3_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_96_bar__plus_00_dot_08_bar__plus_01_dot_39 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation Newspaper_bar__minus_02_dot_89_bar__plus_00_dot_57_bar__plus_01_dot_19 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_36_bar__minus_01_dot_84 loc_bar__minus_9_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Box_bar__plus_03_dot_17_bar__plus_00_dot_21_bar__minus_00_dot_05 loc_bar_11_bar_0_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_02_dot_81_bar__plus_00_dot_75_bar__plus_00_dot_98 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_12_bar__plus_00_dot_90_bar__plus_01_dot_07 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_63_bar__plus_00_dot_02_bar__plus_02_dot_21 loc_bar_7_bar_7_bar_0_bar_60)\n (objectAtLocation Box_bar__plus_03_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_30 loc_bar_11_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_05_bar__plus_00_dot_00_bar__minus_02_dot_31 loc_bar_4_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_03_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_63 loc_bar_10_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__minus_02_dot_35 loc_bar_10_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Statue_bar__plus_03_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_57 loc_bar_10_bar__minus_7_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_30_bar__plus_00_dot_91_bar__plus_01_dot_95 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_78_bar__plus_00_dot_37_bar__minus_01_dot_87 loc_bar__minus_9_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DeskLamp_bar__plus_03_dot_14_bar__plus_00_dot_59_bar__plus_01_dot_47 loc_bar_11_bar_2_bar_0_bar_60)\n 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loc_bar_4_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_07_bar__plus_01_dot_39_bar__plus_01_dot_70 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_81_bar__plus_00_dot_62_bar__plus_01_dot_81 loc_bar__minus_7_bar_6_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__plus_02_dot_19 loc_bar__minus_3_bar_8_bar_1_bar_60)\n (objectAtLocation Painting_bar__minus_01_dot_56_bar__plus_01_dot_41_bar__minus_02_dot_32 loc_bar__minus_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Painting_bar__plus_03_dot_37_bar__plus_01_dot_79_bar__minus_00_dot_95 loc_bar_11_bar__minus_4_bar_1_bar__minus_15)\n (objectAtLocation Painting_bar__minus_03_dot_49_bar__plus_01_dot_39_bar__minus_00_dot_51 loc_bar__minus_11_bar__minus_2_bar_3_bar_15)\n (objectAtLocation FloorLamp_bar__plus_03_dot_10_bar__plus_00_dot_02_bar__minus_02_dot_34 loc_bar_10_bar__minus_9_bar_1_bar_60)\n (objectAtLocation 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sidetable 2", "take box 2 from sidetable 2", "go to dresser 1", "move box 2 to dresser 1"]} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/traj_data.json b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..cbef1add450ae68b8ebb38c9949c76b6e4cd802e --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Box-None-Dresser-224/trial_T20190907_164104_229696/traj_data.json @@ -0,0 +1,3036 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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"z": 1.18768644 + }, + "rotation": { + "x": 0.0, + "y": 270.0008, + "z": 0.0 + } + }, + { + "objectName": "Vase_4c89f135", + "position": { + "x": -2.16899252, + "y": 1.19524324, + "z": -2.1836822 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_dad3503f", + "position": { + "x": -0.204738, + "y": 0.910291731, + "z": 1.70314872 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_b0bc5ae3", + "position": { + "x": -0.113969006, + "y": 0.9108142, + "z": 1.217382 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_eef72b70", + "position": { + "x": -1.04643679, + "y": 1.19524324, + "z": -2.15178347 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_fe37edd9", + "position": { + "x": -2.81279516, + "y": 0.6234813, + "z": 1.80662346 + }, + "rotation": { + "x": 0.0, + "y": 270.0008, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_ec44dd4c", + "position": { + "x": -0.113969006, + "y": 0.909727156, + "z": 2.18891549 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3082673183, + "scene_num": 224 + }, + "task_id": "trial_T20190907_164104_229696", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A4UAFZ5LW71K_30MVJZJNHPUEH3HBA9ZMU7DEGC39JD", + "high_descs": [ + "turn right, turn right, walk towards the door, turn left to face the couch", + "pick up the box that is on the couch", + "turn around, walk across to the dresser", + "put the box on the dresser" + ], + "task_desc": "move a box from the couch to the dresser", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_35BLDD71I9E2EPZIVW74AJQ1Q2EVZF", + "high_descs": [ + "Move to the left side of the black leather sofa", + "Pick up the empty box and the newspaper sitting on the sofa", + "Carry the newspaper and the empty box to the TV stand", + "Place the empty box and the newspaper on the left side of the TV stand to the left of the keys" + ], + "task_desc": "Move and empty box and newspaper to the TV stand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_3I33IC7ZWIJSGQT8VU7URL2HKIO2AL", + "high_descs": [ + "Turn around, head to the couch", + "Take the box from the couch", + "Turn around, head to the dresser", + "Put the box on the dresser" + ], + "task_desc": "Take the box from the couch, put it on the dresser", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052232_887934/game.tw-pddl b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052232_887934/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..36b4afdc155cfefbdc9de653d4b5eb69159b34fe --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052232_887934/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some candle on toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_052232_887934)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object\n Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_87 - object\n Candle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_05 - object\n Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26 - object\n Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object\n Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object\n HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object\n LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object\n Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object\n Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object\n ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object\n ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object\n SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 - object\n SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08 - object\n SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97 - object\n SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_03_dot_87 - object\n SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 - object\n SprayBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 - object\n SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 - object\n SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_11 - object\n TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 - object\n TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 - object\n TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 - object\n ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object\n ToiletPaper_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 - object\n ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 - object\n Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object\n Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle\n GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle\n HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle\n Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle\n Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle\n Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle\n Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle\n TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location\n loc_bar_1_bar__minus_2_bar_0_bar_30 - location\n loc_bar_1_bar__minus_7_bar_1_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType)\n (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType)\n (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType)\n (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType)\n (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType)\n (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType)\n (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType)\n (objectType TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 TissueBoxType)\n (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26 ClothType)\n (objectType SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97 SoapBarType)\n (objectType SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_03_dot_87 SoapBottleType)\n (objectType SprayBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 SprayBottleType)\n (objectType ToiletPaper_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 ToiletPaperType)\n (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType)\n (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType)\n (objectType TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 TissueBoxType)\n (objectType SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 SoapBottleType)\n (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType)\n (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType)\n (objectType TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 TissueBoxType)\n (objectType SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08 SoapBarType)\n (objectType ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 ToiletPaperType)\n (objectType Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_87 CandleType)\n (objectType Candle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_05 CandleType)\n (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType)\n (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType)\n (objectType SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_11 SprayBottleType)\n (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType)\n (objectType SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 SprayBottleType)\n (objectType SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 SoapBarType)\n (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType ClothType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletType ClothType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain ToiletType CandleType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType CandleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\n (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04)\n (pickupable TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83)\n (pickupable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26)\n (pickupable SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97)\n (pickupable SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_03_dot_87)\n (pickupable SprayBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52)\n (pickupable ToiletPaper_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62)\n (pickupable TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36)\n (pickupable SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11)\n (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89)\n (pickupable TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08)\n (pickupable ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78)\n (pickupable Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_87)\n (pickupable Candle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_05)\n (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_11)\n (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11)\n (pickupable SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98)\n \n \n \n (atLocation agent1 loc_bar__minus_4_bar__minus_3_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26)\n (cleanable SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97)\n (cleanable SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08)\n (cleanable SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00)\n (inReceptacle Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_87 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle ToiletPaper_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SprayBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle Candle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_05 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00)\n (inReceptacle SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_03_dot_87 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30)\n (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_05 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_03_dot_87 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_87 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 loc_bar__minus_2_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CandleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "take candle 1 from shelf 1", "go to toilet 1", "move candle 1 to toilet 1"]} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052232_887934/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052232_887934/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fe659f483b7f66a33f0bacd579414e6fef1ea19f --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052232_887934/initial_state.pddl @@ -0,0 +1,453 @@ + +(define (problem plan_trial_T20190908_052232_887934) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object + Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_87 - object + Candle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_05 - object + Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26 - object + Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object + Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object + HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object + Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object + ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object + ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object + SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 - object + SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08 - object + SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97 - object + SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_03_dot_87 - object + SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 - object + SprayBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 - object + SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 - object + SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_11 - object + TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 - object + TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 - object + TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 - object + ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object + ToiletPaper_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 - object + ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 - object + Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object + Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle + GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle + HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle + Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle + Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle + Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle + Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle + TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_30 - location + loc_bar_1_bar__minus_7_bar_1_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_3_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType) + (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType) + (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType) + (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType) + (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType) + (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType) + (objectType TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 TissueBoxType) + (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26 ClothType) + (objectType SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97 SoapBarType) + (objectType SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_03_dot_87 SoapBottleType) + (objectType SprayBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 SprayBottleType) + (objectType ToiletPaper_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 ToiletPaperType) + (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType) + (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType) + (objectType TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 TissueBoxType) + (objectType SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 SoapBottleType) + (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType) + (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType) + (objectType TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 TissueBoxType) + (objectType SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08 SoapBarType) + (objectType ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 ToiletPaperType) + (objectType Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_87 CandleType) + (objectType Candle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_05 CandleType) + (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType) + (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType) + (objectType SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_11 SprayBottleType) + (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType) + (objectType SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 SprayBottleType) + (objectType SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 SoapBarType) + (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain ToiletType CandleType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04) + (pickupable TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83) + (pickupable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26) + (pickupable SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97) + (pickupable SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_03_dot_87) + (pickupable SprayBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52) + (pickupable ToiletPaper_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62) + (pickupable TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36) + (pickupable SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11) + (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89) + (pickupable TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08) + (pickupable ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78) + (pickupable Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_87) + (pickupable Candle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_05) + (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_11) + (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11) + (pickupable SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98) + + + + (atLocation agent1 loc_bar__minus_4_bar__minus_3_bar_1_bar_30) + + (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26) + (cleanable SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97) + (cleanable SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08) + (cleanable SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98) + + + + + + + + + + + (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00) + (inReceptacle Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_87 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle ToiletPaper_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SprayBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle Candle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_05 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00) + (inReceptacle SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_03_dot_87 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30) + (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_97 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_05 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_03_dot_87 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_02_dot_08 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_26 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_87 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation SoapBar_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30) + (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0) + (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CandleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052232_887934/traj_data.json b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052232_887934/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..4a104d664f7219e9ca485927c0f4228f4006ee2f --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052232_887934/traj_data.json @@ -0,0 +1,2097 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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"high_descs": [ + "Turn around and then face to the right to stand in front of the tissues.", + "Pick the small bottle behind the tissues up from the cabinet.", + "Go right and then right again and then turn left to face the right side of the toilet.", + "Put the bottle on the back of the toilet." + ], + "task_desc": "Put a bottle on the back of a newspaper.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3NXNZ5RS1DELX8G990APRH85PZR79S", + "high_descs": [ + "Turn to the while shelf on your left and to the left of the door.", + "Pick up the nail polish, on the white shelf, behind the tissue box. ", + "Turn around and go to the toilet, across the room. ", + "Place the nail polish on the back of the toilet, above the handle. " + ], + "task_desc": "Put a bottle of nail polish on the toilet. ", + "votes": [ + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3ZQIG0FLQHXYKUUDK9NXBFWJ9IYVWD", + "high_descs": [ + "Turn around and face the white table to your right.", + "Take the candle from the white table in front of you.", + "Turn around then face the toilet to your left.", + "Place the candle on top of the toilet tank in front of you." + ], + "task_desc": "Place a candle on top of the toilet.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-HandTowel-None-SinkBasin-422/trial_T20190907_061934_041977/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-HandTowel-None-SinkBasin-422/trial_T20190907_061934_041977/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fd356f3086fe2b26f2d90aee4ba73174b94ea4cc --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-HandTowel-None-SinkBasin-422/trial_T20190907_061934_041977/initial_state.pddl @@ -0,0 +1,541 @@ + +(define (problem plan_trial_T20190907_061934_041977) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03 - object + Candle_bar__minus_02_dot_26_bar__plus_00_dot_11_bar__plus_02_dot_33 - object + Cloth_bar__minus_02_dot_06_bar__plus_00_dot_85_bar__plus_00_dot_36 - object + Cloth_bar__minus_02_dot_12_bar__plus_01_dot_30_bar__plus_02_dot_14 - object + Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_01_dot_27 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_96_bar__plus_00_dot_18 - object + Faucet_bar__minus_03_dot_52_bar__plus_01_dot_72_bar__plus_01_dot_78 - object + HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 - object + Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 - object + Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 - object + ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 - object + ShowerCurtain_bar__minus_03_dot_39_bar__plus_02_dot_44_bar__plus_00_dot_27 - object + Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 - object + SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_85_bar__plus_00_dot_28 - object + SoapBottle_bar__minus_00_dot_63_bar__plus_00_dot_96_bar__plus_02_dot_70 - object + SprayBottle_bar__minus_00_dot_77_bar__plus_01_dot_66_bar__plus_00_dot_26 - object + SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_14_bar__plus_00_dot_17 - object + TissueBox_bar__minus_00_dot_75_bar__plus_01_dot_13_bar__plus_00_dot_47 - object + TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_31 - object + TissueBox_bar__minus_02_dot_02_bar__plus_00_dot_13_bar__plus_00_dot_31 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 - object + ToiletPaper_bar__minus_00_dot_81_bar__plus_00_dot_86_bar__plus_00_dot_44 - object + Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 - object + Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 - object + Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 - receptacle + Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 - receptacle + Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 - receptacle + Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 - receptacle + CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 - receptacle + CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 - receptacle + Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 - receptacle + Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 - receptacle + HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 - receptacle + Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 - receptacle + Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 - receptacle + Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle + Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 - receptacle + TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 - receptacle + loc_bar__minus_8_bar_6_bar_0_bar_45 - location + loc_bar__minus_5_bar_9_bar_3_bar_15 - location + loc_bar__minus_10_bar_3_bar_2_bar_0 - location + loc_bar__minus_2_bar_4_bar_2_bar_60 - location + loc_bar__minus_12_bar_5_bar_3_bar_60 - location + loc_bar__minus_5_bar_6_bar_2_bar_45 - location + loc_bar__minus_4_bar_9_bar_1_bar_60 - location + loc_bar__minus_8_bar_3_bar_2_bar_0 - location + loc_bar__minus_5_bar_8_bar_3_bar__minus_15 - location + loc_bar__minus_10_bar_5_bar_3_bar_60 - location + loc_bar__minus_7_bar_6_bar_2_bar_45 - location + loc_bar__minus_12_bar_5_bar_3_bar_0 - location + loc_bar__minus_4_bar_9_bar_0_bar_60 - location + loc_bar__minus_10_bar_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_7_bar_1_bar_45 - location + loc_bar__minus_5_bar_7_bar_3_bar_60 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_5_bar_9_bar_3_bar_30 - location + loc_bar__minus_4_bar_4_bar_2_bar_60 - location + loc_bar__minus_6_bar_3_bar_2_bar__minus_15 - location + loc_bar__minus_8_bar_3_bar_2_bar_60 - location + loc_bar__minus_2_bar_7_bar_1_bar_30 - location + loc_bar__minus_3_bar_4_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 CabinetType) + (receptacleType Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin BathtubBasinType) + (receptacleType CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 ShelfType) + (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 CabinetType) + (receptacleType TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 TowelHolderType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 ToiletPaperHangerType) + (receptacleType HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 CabinetType) + (receptacleType Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 ShelfType) + (receptacleType Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 GarbageCanType) + (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 CabinetType) + (receptacleType Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 ToiletType) + (receptacleType CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 CounterTopType) + (objectType SoapBottle_bar__minus_00_dot_63_bar__plus_00_dot_96_bar__plus_02_dot_70 SoapBottleType) + (objectType TissueBox_bar__minus_00_dot_75_bar__plus_01_dot_13_bar__plus_00_dot_47 TissueBoxType) + (objectType Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 PlungerType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 ToiletPaperType) + (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 MirrorType) + (objectType SprayBottle_bar__minus_00_dot_77_bar__plus_01_dot_66_bar__plus_00_dot_26 SprayBottleType) + (objectType Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03 BathtubType) + (objectType ToiletPaper_bar__minus_00_dot_81_bar__plus_00_dot_86_bar__plus_00_dot_44 ToiletPaperType) + (objectType Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 WindowType) + (objectType Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 TowelType) + (objectType Cloth_bar__minus_02_dot_06_bar__plus_00_dot_85_bar__plus_00_dot_36 ClothType) + (objectType TissueBox_bar__minus_02_dot_02_bar__plus_00_dot_13_bar__plus_00_dot_31 TissueBoxType) + (objectType HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 HandTowelType) + (objectType TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_31 TissueBoxType) + (objectType SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_14_bar__plus_00_dot_17 SprayBottleType) + (objectType Cloth_bar__minus_02_dot_12_bar__plus_01_dot_30_bar__plus_02_dot_14 ClothType) + (objectType Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_01_dot_27 ClothType) + (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 LightSwitchType) + (objectType SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_85_bar__plus_00_dot_28 SoapBarType) + (objectType ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 ScrubBrushType) + (objectType Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 SinkType) + (objectType Candle_bar__minus_02_dot_26_bar__plus_00_dot_11_bar__plus_02_dot_33 CandleType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain HandTowelHolderType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType 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Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52) + + (atLocation agent1 loc_bar__minus_3_bar_4_bar_3_bar_30) + + (cleanable Cloth_bar__minus_02_dot_06_bar__plus_00_dot_85_bar__plus_00_dot_36) + (cleanable Cloth_bar__minus_02_dot_12_bar__plus_01_dot_30_bar__plus_02_dot_14) + (cleanable Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_01_dot_27) + (cleanable SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_85_bar__plus_00_dot_28) + + + + + + + + + + + (inReceptacle TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_31 Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52) + (inReceptacle TissueBox_bar__minus_02_dot_02_bar__plus_00_dot_13_bar__plus_00_dot_31 Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52) + (inReceptacle ToiletPaper_bar__minus_00_dot_81_bar__plus_00_dot_86_bar__plus_00_dot_44 Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38) + (inReceptacle Candle_bar__minus_02_dot_26_bar__plus_00_dot_11_bar__plus_02_dot_33 Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98) + (inReceptacle SprayBottle_bar__minus_00_dot_77_bar__plus_01_dot_66_bar__plus_00_dot_26 Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52) + (inReceptacle SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_14_bar__plus_00_dot_17 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29) + (inReceptacle TissueBox_bar__minus_00_dot_75_bar__plus_01_dot_13_bar__plus_00_dot_47 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29) + (inReceptacle Cloth_bar__minus_02_dot_12_bar__plus_01_dot_30_bar__plus_02_dot_14 Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19) + (inReceptacle Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00) + (inReceptacle SoapBottle_bar__minus_00_dot_63_bar__plus_00_dot_96_bar__plus_02_dot_70 Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26) + (inReceptacle Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_01_dot_27 Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_02_dot_06_bar__plus_00_dot_85_bar__plus_00_dot_36 Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin) + (inReceptacle SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_85_bar__plus_00_dot_28 Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin loc_bar__minus_10_bar_5_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 loc_bar__minus_5_bar_6_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 loc_bar__minus_5_bar_7_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 loc_bar__minus_5_bar_8_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 loc_bar__minus_7_bar_6_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 loc_bar__minus_4_bar_4_bar_2_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 loc_bar__minus_8_bar_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 loc_bar__minus_8_bar_6_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_4_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 loc_bar__minus_6_bar_3_bar_2_bar__minus_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 loc_bar__minus_5_bar_9_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 loc_bar__minus_5_bar_9_bar_3_bar_15) + (receptacleAtLocation Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin loc_bar__minus_10_bar_3_bar_1_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar__minus_2_bar_7_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0) + (objectAtLocation Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_01_dot_27 loc_bar__minus_10_bar_5_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_77_bar__plus_01_dot_66_bar__plus_00_dot_26 loc_bar__minus_3_bar_5_bar_2_bar__minus_30) + (objectAtLocation TissueBox_bar__minus_02_dot_02_bar__plus_00_dot_13_bar__plus_00_dot_31 loc_bar__minus_7_bar_6_bar_2_bar_45) + (objectAtLocation TissueBox_bar__minus_00_dot_75_bar__plus_01_dot_13_bar__plus_00_dot_47 loc_bar__minus_4_bar_4_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_12_bar__plus_01_dot_30_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_3_bar_15) + (objectAtLocation Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03 loc_bar__minus_12_bar_5_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 loc_bar__minus_8_bar_3_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 loc_bar__minus_8_bar_3_bar_2_bar_0) + (objectAtLocation HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 loc_bar__minus_6_bar_3_bar_2_bar__minus_15) + (objectAtLocation SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_85_bar__plus_00_dot_28 loc_bar__minus_10_bar_3_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_81_bar__plus_00_dot_86_bar__plus_00_dot_44 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 loc_bar__minus_2_bar_7_bar_1_bar_30) + (objectAtLocation Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 loc_bar__minus_4_bar_9_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_26_bar__plus_00_dot_11_bar__plus_02_dot_33 loc_bar__minus_5_bar_7_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_31 loc_bar__minus_7_bar_6_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_63_bar__plus_00_dot_96_bar__plus_02_dot_70 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 loc_bar__minus_12_bar_5_bar_3_bar_0) + (objectAtLocation SprayBottle_bar__minus_00_dot_93_bar__plus_01_dot_14_bar__plus_00_dot_17 loc_bar__minus_4_bar_4_bar_2_bar_60) + (objectAtLocation Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_0) + (objectAtLocation Cloth_bar__minus_02_dot_06_bar__plus_00_dot_85_bar__plus_00_dot_36 loc_bar__minus_10_bar_3_bar_1_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 loc_bar__minus_4_bar_9_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o HandTowelType) + (receptacleType ?r SinkBasinType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-HandTowel-None-SinkBasin-422/trial_T20190907_061934_041977/traj_data.json b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-HandTowel-None-SinkBasin-422/trial_T20190907_061934_041977/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..d1f47a5d15abac510e2460d2646b7e18040670a7 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_and_place_simple-HandTowel-None-SinkBasin-422/trial_T20190907_061934_041977/traj_data.json @@ -0,0 +1,2634 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + 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towel holder that is in between the two counters", + "Pick up the towel that is hanging on the towel holder", + "Turn to the right to face the sink", + "Place the towel inside the sink" + ], + "task_desc": "Place a towel inside a sink", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3WJ1OXY92DX325VXBBGV1CFK6DB8AF", + "high_descs": [ + "turn left, face the towel on the wall", + "grab the towel on the wall", + "turn right to the sink", + "put the towel in the sink" + ], + "task_desc": "move the towel from the wall to the sink", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2CT57W84KXX25_3C2NJ6JBKDYZ09NX4YCZDRMHJLAN25", + "high_descs": [ + "Walk to the towel ring", + "Grab the towel from the towel ring", + "Walk to the counter", + "Put the towel on the sink counter" + ], + "task_desc": "Getting the towel ready to be used", + "votes": [ + 0, + 1, + 1, + 0, + 0, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_32Q90QCQ1V2QNJEA05FKN0E2MXGEKM", + "high_descs": [ + "turn left, face the towel that is hanging on the wall", + "take the towel down from the rack", + "turn right to face the sink", + "put the towel on the sink" + ], + "task_desc": "move the towel from the towel rack to the sink", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190908_233553_192059/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190908_233553_192059/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..025d0b5896860da0e016ec374cf6e6f1850279d3 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190908_233553_192059/initial_state.pddl @@ -0,0 +1,942 @@ + +(define (problem plan_trial_T20190908_233553_192059) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_01 - object + Apple_bar__minus_02_dot_01_bar__plus_00_dot_10_bar__minus_03_dot_76 - object + Apple_bar__minus_02_dot_44_bar__plus_01_dot_00_bar__minus_00_dot_96 - object + Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object + Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 - object + Bowl_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_35 - object + Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_77 - object + Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_61 - object + ButterKnife_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_19 - object + ButterKnife_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 - object + Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 - object + Cup_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_84 - object + DishSponge_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 - object + DishSponge_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_02_dot_76 - object + Egg_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_03_dot_84 - object + Faucet_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_02_dot_03 - object + Fork_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_19 - object + Glassbottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_00_dot_96 - object + Knife_bar__minus_02_dot_21_bar__plus_00_dot_95_bar__minus_02_dot_35 - object + Knife_bar__minus_02_dot_44_bar__plus_00_dot_95_bar__minus_01_dot_42 - object + Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 - object + LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object + Mug_bar__minus_00_dot_20_bar__plus_01_dot_09_bar__minus_00_dot_87 - object + Mug_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42 - object + Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + Pencil_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Pen_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_56 - object + Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_65 - object + PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_74_bar__minus_03_dot_33 - object + PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_00_dot_96 - object + PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_42 - object + Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_01_dot_80 - object + Potato_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_02_dot_01 - object + Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_84 - object + Potato_bar__minus_01_dot_26_bar__plus_01_dot_66_bar__minus_03_dot_80 - object + Pot_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_88 - object + SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_91_bar__minus_02_dot_30 - object + SaltShaker_bar__minus_00_dot_69_bar__plus_00_dot_74_bar__minus_03_dot_56 - object + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_00_dot_34_bar__plus_01_dot_53_bar__minus_03_dot_52 - object + SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_53_bar__minus_03_dot_62 - object + SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_49 - object + Spatula_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_77 - object + Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_65 - object + Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_02_dot_35 - object + Spoon_bar__minus_00_dot_33_bar__plus_00_dot_79_bar__minus_02_dot_13 - object + StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + Tomato_bar__minus_00_dot_44_bar__plus_01_dot_45_bar__minus_00_dot_98 - object + Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object + WineBottle_bar__minus_00_dot_16_bar__plus_01_dot_53_bar__minus_02_dot_91 - object + Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle + Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle + CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 - receptacle + CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 - receptacle + DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 - receptacle + Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 - receptacle + Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 - receptacle + GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 - receptacle + Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 - receptacle + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle + StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle + StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle + StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle + Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 - receptacle + loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location + loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_16_bar__minus_10_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 CabinetType) + (receptacleType Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 MicrowaveType) + (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType) + (receptacleType 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Potato_bar__minus_01_dot_26_bar__plus_01_dot_66_bar__minus_03_dot_80) + (heatable Potato_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_02_dot_01) + (heatable Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_01_dot_80) + (heatable Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_61) + (heatable Mug_bar__minus_00_dot_20_bar__plus_01_dot_09_bar__minus_00_dot_87) + (heatable Tomato_bar__minus_00_dot_44_bar__plus_01_dot_45_bar__minus_00_dot_98) + (heatable Mug_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42) + (heatable Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_77) + (heatable Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_84) + (heatable Egg_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_03_dot_84) + (heatable Apple_bar__minus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_01) + (heatable Cup_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_84) + (heatable 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Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50) + (inReceptacle SaltShaker_bar__minus_00_dot_69_bar__plus_00_dot_74_bar__minus_03_dot_56 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55) + (inReceptacle SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_91_bar__minus_02_dot_30 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Pen_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_49 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_61 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle DishSponge_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_02_dot_76 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Cup_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_84 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Spatula_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_77 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Pot_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Fork_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle ButterKnife_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Glassbottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Apple_bar__minus_02_dot_44_bar__plus_01_dot_00_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Pencil_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Bowl_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Mug_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Knife_bar__minus_02_dot_44_bar__plus_00_dot_95_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Knife_bar__minus_02_dot_21_bar__plus_00_dot_95_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle ButterKnife_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle DishSponge_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20) + (inReceptacle SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_53_bar__minus_03_dot_62 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39) + (inReceptacle SoapBottle_bar__minus_00_dot_34_bar__plus_01_dot_53_bar__minus_03_dot_52 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39) + (inReceptacle PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_74_bar__minus_03_dot_33 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27) + (inReceptacle WineBottle_bar__minus_00_dot_16_bar__plus_01_dot_53_bar__minus_02_dot_91 Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50) + (inReceptacle Potato_bar__minus_01_dot_26_bar__plus_01_dot_66_bar__minus_03_dot_80 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85) + (inReceptacle Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_84 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85) + (inReceptacle Egg_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_03_dot_84 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76) + (inReceptacle Apple_bar__minus_02_dot_01_bar__plus_00_dot_10_bar__minus_03_dot_76 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76) + (inReceptacle Mug_bar__minus_00_dot_20_bar__plus_01_dot_09_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Tomato_bar__minus_00_dot_44_bar__plus_01_dot_45_bar__minus_00_dot_98 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Spoon_bar__minus_00_dot_33_bar__plus_00_dot_79_bar__minus_02_dot_13 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_01 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle 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the kitchen island.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A13OOAT2ORKH6V_3EWIJTFFVRYWVIT4SKUJ52JV2WQ0E9", + "high_descs": [ + "Turn left and walk to the table to your left.", + "Grab the knife sitting on the table.", + "Turn right and walk to the stove to your right.", + "Place the knife in the glass cup on the counter to the left of the stove.", + "Pick up the glass cup on the counter with the knife in it.", + "Turn around and take the glass cup with the knife in it to the table to your left.", + "Place the glass cup with the knife in it on the counter between the black cup and knife." + ], + "task_desc": "Place a glass cup with knife it on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3NVC2EB65TQQIF9SB8OWE39INKE3YL", + "high_descs": [ + "Turn around and step to the right to face the end of the center table.", + "Pick up the knife on the center table.", + "Turn right and walk across the room and turn right to face the counter.", + "Put the knife in the cup on the counter.", + "Pick up the cup with a knife in it on the counter.", + "Turn right and walk forward to face the center table.", + "Place the glass with a knife in it on the center table in the kitchen." + ], + "task_desc": "To put a knife in a glass and place them on the center table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Ladle-Plate-CounterTop-4/trial_T20190909_090126_143408/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Ladle-Plate-CounterTop-4/trial_T20190909_090126_143408/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6d1e9b08c781aab15a87fa7207f4931d93b94be7 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-Ladle-Plate-CounterTop-4/trial_T20190909_090126_143408/initial_state.pddl @@ -0,0 +1,914 @@ + +(define (problem plan_trial_T20190909_090126_143408) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - 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Plate_bar__minus_03_dot_51_bar__plus_00_dot_91_bar__plus_03_dot_13) + (coolable Egg_bar__minus_03_dot_24_bar__plus_00_dot_94_bar__plus_02_dot_99) + (coolable Plate_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_92) + (coolable Mug_bar__minus_03_dot_64_bar__plus_01_dot_56_bar__plus_03_dot_06) + (coolable Potato_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__plus_00_dot_50) + + + + + + (sliceable Tomato_bar__minus_00_dot_75_bar__plus_01_dot_08_bar__plus_02_dot_40) + (sliceable Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_82) + (sliceable Apple_bar__minus_01_dot_55_bar__plus_01_dot_00_bar__plus_00_dot_64) + (sliceable Egg_bar__minus_00_dot_26_bar__plus_01_dot_26_bar__plus_00_dot_51) + (sliceable Apple_bar__minus_01_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_22) + (sliceable Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_02_dot_85) + (sliceable Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_27) + (sliceable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14) + (sliceable Egg_bar__minus_00_dot_91_bar__plus_01_dot_08_bar__plus_02_dot_59) + (sliceable Egg_bar__minus_03_dot_24_bar__plus_00_dot_94_bar__plus_02_dot_99) + (sliceable Potato_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__plus_00_dot_50) + + (inReceptacle Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23) + (inReceptacle Tomato_bar__minus_00_dot_75_bar__plus_01_dot_08_bar__plus_02_dot_40 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bowl_bar__minus_00_dot_50_bar__plus_01_dot_04_bar__plus_02_dot_22 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle DishSponge_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Knife_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Cup_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Mug_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Egg_bar__minus_00_dot_91_bar__plus_01_dot_08_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle DishSponge_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Knife_bar__minus_00_dot_29_bar__plus_01_dot_08_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Spoon_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Fork_bar__minus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_10_bar__plus_00_dot_55 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle Plate_bar__minus_01_dot_24_bar__plus_00_dot_05_bar__plus_00_dot_49 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle PepperShaker_bar__minus_01_dot_16_bar__plus_00_dot_05_bar__plus_00_dot_66 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48) + (inReceptacle SaltShaker_bar__minus_02_dot_37_bar__plus_00_dot_90_bar__plus_00_dot_61 Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60) + (inReceptacle HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle PepperShaker_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_38 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle SoapBottle_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Bowl_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Plate_bar__minus_03_dot_51_bar__plus_00_dot_91_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Egg_bar__minus_03_dot_24_bar__plus_00_dot_94_bar__plus_02_dot_99 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Plate_bar__minus_03_dot_37_bar__plus_01_dot_56_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Plate_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Mug_bar__minus_03_dot_64_bar__plus_01_dot_56_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle DishSponge_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_98 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle ButterKnife_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_43 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Knife_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Apple_bar__minus_01_dot_55_bar__plus_01_dot_00_bar__plus_00_dot_64 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Apple_bar__minus_01_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_22 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Potato_bar__minus_01_dot_11_bar__plus_00_dot_96_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Spoon_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_57 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Egg_bar__minus_00_dot_26_bar__plus_01_dot_26_bar__plus_00_dot_51 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30) + (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_7_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_8_bar_4_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 loc_bar__minus_10_bar_11_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 loc_bar__minus_6_bar_4_bar_1_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 loc_bar__minus_5_bar_11_bar_1_bar_30) + (objectAtLocation Mug_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_98 loc_bar__minus_14_bar_6_bar_0_bar_60) + (objectAtLocation Apple_bar__minus_01_dot_55_bar__plus_01_dot_00_bar__plus_00_dot_64 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_38 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_50_bar__plus_01_dot_04_bar__plus_02_dot_22 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_29_bar__plus_01_dot_08_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Egg_bar__minus_00_dot_26_bar__plus_01_dot_26_bar__plus_00_dot_51 loc_bar__minus_6_bar_4_bar_1_bar_30) + (objectAtLocation Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_02_dot_85 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_03_dot_51_bar__plus_00_dot_91_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Ladle_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30) + (objectAtLocation SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_10_bar__plus_00_dot_55 loc_bar__minus_6_bar_4_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_66_bar__plus_01_dot_15_bar__plus_00_dot_10 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_50 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_03_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_24_bar__plus_00_dot_05_bar__plus_00_dot_49 loc_bar__minus_7_bar_7_bar_2_bar_45) + 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"A272X64FOZFYLB_3SKRO2GZ74IZO76WKP9MH2FARWZK19", + "high_descs": [ + "Walk forward to the dining table in front of you.", + "Pick up the ladle from the table.", + "Turn right and walk forward to the sink.", + "Open the cabinet on the left below the sink and put the ladle on the plate.", + "Pick up the plate from the cabinet and close the cabinet door.", + "Walk slightly to the left and turn right towards the counter top.", + "Put the plate on the counter to the left of the sink." + ], + "task_desc": "Put a plate with a ladle on it on a counter top.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3U4J9857OH2C6QH43SD2J9NX7PCB71", + "high_descs": [ + "go to the dining table", + "pick up the measuring spoon", + "take the spoon to the sink", + "put the spoon in the bowl in the cabinet to the left below the sink", + "pick up the bowl and spoon from the cabinet", + "take the bowl to the counter to the left of the sink", + "put the bowl on the counter" + ], + "task_desc": "put a bowl and spoon on the counter", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-PotatoSliced-Pot-DiningTable-21/trial_T20190907_113142_479158/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-PotatoSliced-Pot-DiningTable-21/trial_T20190907_113142_479158/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f9b5fd4b5a646cc2f231b1f3b7c85992b46f01a0 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-PotatoSliced-Pot-DiningTable-21/trial_T20190907_113142_479158/initial_state.pddl @@ -0,0 +1,849 @@ + +(define (problem plan_trial_T20190907_113142_479158) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - 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Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96) + (inReceptacle Egg_bar__minus_01_dot_95_bar__plus_00_dot_84_bar__minus_03_dot_67 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69) + (inReceptacle Potato_bar__minus_01_dot_79_bar__plus_00_dot_83_bar__minus_03_dot_74 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69) + (inReceptacle Tomato_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_79 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30) + (receptacleAtLocation 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loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Potato_bar__minus_01_dot_79_bar__plus_00_dot_83_bar__minus_03_dot_74 loc_bar__minus_7_bar__minus_11_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_95_bar__plus_00_dot_84_bar__minus_03_dot_67 loc_bar__minus_7_bar__minus_11_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_30_bar__plus_00_dot_05_bar__minus_03_dot_65 loc_bar__minus_4_bar__minus_13_bar_2_bar_60) + (objectAtLocation Fork_bar__plus_00_dot_96_bar__plus_00_dot_67_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30) + (objectAtLocation Tomato_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_79 loc_bar_1_bar__minus_2_bar_1_bar_60) + (objectAtLocation Cup_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__plus_00_dot_01 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Potato_bar__plus_00_dot_67_bar__plus_01_dot_41_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation Potato_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__minus_00_dot_31 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0) + (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45) + (objectAtLocation Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation Fork_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_57 loc_bar_1_bar__minus_2_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation Apple_bar__plus_00_dot_58_bar__plus_00_dot_94_bar__minus_00_dot_31 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation Pan_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0) + (objectAtLocation Egg_bar__plus_00_dot_71_bar__plus_00_dot_50_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_82_bar__plus_00_dot_77_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_00_dot_66_bar__plus_00_dot_70_bar__plus_00_dot_51 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_66_bar__plus_00_dot_88_bar__minus_00_dot_25 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_27 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_18 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_62_bar__plus_00_dot_70_bar__minus_03_dot_61 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30) + (objectAtLocation Lettuce_bar__plus_00_dot_79_bar__plus_00_dot_75_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60) + (objectAtLocation Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Spoon_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_45_bar__plus_00_dot_92_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_79_bar__plus_01_dot_15_bar__minus_02_dot_04 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30) + (objectAtLocation Bowl_bar__plus_00_dot_73_bar__plus_00_dot_01_bar__minus_00_dot_18 loc_bar__minus_2_bar_1_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r DiningTableType) + (exists (?o - object) + (and + (objectType ?o PotatoType) + (exists (?mo - object) + (and + (sliceable ?o) + (isSliced ?o) + (objectType ?mo PotType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-PotatoSliced-Pot-DiningTable-21/trial_T20190907_113142_479158/traj_data.json 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9 + } + ] + }, + "scene": { + "dirty_and_empty": false, + "floor_plan": "FloorPlan21", + "init_action": { + "action": "TeleportFull", + "horizon": 30, + "rotateOnTeleport": true, + "rotation": 0, + "x": -0.25, + "y": 0.869696259, + "z": -2.5 + }, + "object_poses": [ + { + "objectName": "Potato_027e0a30", + "position": { + "x": 0.6616132, + "y": 0.6984495, + "z": 0.508934 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_027e0a30", + "position": { + "x": 0.8034234, + "y": 0.916653156, + "z": -0.314791471 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_027e0a30", + "position": { + "x": 0.6692874, + "y": 1.40768075, + "z": -1.72512484 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_0ad5c562", + "position": { + "x": 0.877196848, + "y": 0.8836421, + "z": -0.176930517 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + 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"objectName": "Pot_cde1951c", + "position": { + "x": -1.555, + "y": 0.9306, + "z": 1.049 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_2b33f66e", + "position": { + "x": -1.71959925, + "y": 0.705755532, + "z": -0.983721733 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_34f12e87", + "position": { + "x": 0.9619548, + "y": 0.665148556, + "z": 0.387266 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_d7803c74", + "position": { + "x": -1.29754376, + "y": 0.0515287854, + "z": -3.64760184 + }, + "rotation": { + "x": 0.0, + "y": 269.999878, + "z": 0.0 + } + }, + { + "objectName": "Apple_093f2b24", + "position": { + "x": 0.5821031, + "y": 0.93709, + "z": -0.314791471 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_63693e0a", + "position": { + "x": -0.0518239737, + "y": 0.8994488, + "z": 1.10124457 + }, + "rotation": { 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"position": { + "x": 0.6616132, + "y": 0.6617025, + "z": 0.265598059 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_0ad5c562", + "position": { + "x": -1.05636072, + "y": 0.900662839, + "z": 1.10125017 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_11e4138d", + "position": { + "x": -1.62047052, + "y": 0.6998392, + "z": -3.61407733 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_42314d78", + "position": { + "x": -0.873921752, + "y": 0.931037068, + "z": 0.978991032 + }, + "rotation": { + "x": 0.0298037343, + "y": 24.2316284, + "z": 359.895 + } + }, + { + "objectName": "Lettuce_0ad3089c", + "position": { + "x": 0.746875, + "y": 1.24617481, + "z": -1.80275 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Tomato_5a2cfc73", + "position": { + "x": 0.824462652, + "y": 0.713716447, + "z": -1.80275035 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Spoon_93a81026", + "position": { + "x": -1.05636227, + "y": 0.901750147, + "z": 0.8439436 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Knife_33d4fba0", + "position": { + "x": 0.62322855, + "y": 0.7836356, + "z": 0.00290554762 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_288ff1e3", + "position": { + "x": 0.7856681, + "y": 1.15372765, + "z": -2.035625 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Bowl_737b77b7", + "position": { + "x": 0.7323308, + "y": 0.0141527653, + "z": -0.184701681 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4127326715, + "scene_num": 21 + }, + "task_id": "trial_T20190907_113142_479158", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_32KTQ2V7RGW4IBNWD6CEAZ5VK3OM9E", + "high_descs": [ + "walk straight ahead, and then to the sink on your right", + "grab the butter knife off of the kitchen counter to the left of the sink", + "slice up the potato on top of the kitchen counter", + "place the knife down on the kitchen counter", + "pick up a potato slice off of the kitchen counter", + "turn around and walk over to the kitchen stove on the right at the end of the room", + "place the potato slice in the pan on the bottom left burner", + "pick the pan up off of the burner", + "turn around and walk over to the kitchen table on your right", + "place the pan down on top of the kitchen table" + ], + "task_desc": "place a pan down on the kitchen table with a potato inside of it", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3LRKMWOKB8YTHY1G7MNT8ETQT142ZR", + "high_descs": [ + "Walk across the room and turn right at the sink so that you are facing it.", + "Pick up the butter knife located to the left of the salt on the kitchen counter.", + "Cut the potato that is behind the salt into slices. . ", + "Place the butter knife back on the counter, beside the salt. ", + "Pick up one of the potato slices previously cut. ", + "Turn around and walk across the kitchen, turning right at the stove so that you are facing it. ", + "Place the potato slice in the pan on the front, left, burner. ", + "Remove the pan with the potato slice in it from the stove.", + "Turn around so that you are standing in between the sink and the dining table but facing the dining table. ", + "Place the pan with the potato inside it, on the table, in the middle, between the pump bottle and the plate. " + ], + "task_desc": "Place a pan containing sliced potato's on the table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3TMSXRD2X9HIYIEFDV384RP3KSF1WA", + "high_descs": [ + "Go to the counter by the sink", + "Pick up the knife on the counter", + "Cut the potato on the counter with the knife. ", + "Put the knife on the counter. ", + "Pick up the potato slice on the counter. ", + "Turn around and go to the stove. ", + "Put the potato slice in a pot on the left of the stove. ", + "Pick up the pot from the stove. ", + "Turn around and go to the small table.", + "Put the pot on the small table. " + ], + "task_desc": "Put a pot with a potato on the small table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3D8YOU6S9H10D0Q7O10OHZVN7SYU6Q", + "high_descs": [ + "Begin walking across the room, then hang a right and walk up to the kitchen sink.", + "Pick up the butter knife that is on the counter to the left of the sink.", + "Slice up the sweet potato that is on the counter to the left of the sink.", + "Put the knife on the counter standing up in front of the salt shaker.", + "Pick up a piece of sliced potato.", + "Turn around and walk over to the wall, then turn right and walk up to the oven.", + "Place the piece of sliced potato in the metal pot that is on the front left burner of the stove.", + "Pick up the metal pot with the piece of sliced potato in it.", + "Turn right and begin walking across the room, then hang a right and walk over to the small white table on your right.", + "Place the metal pot with the potato slice in it onto the table in between the plate and bottle of lotion." + ], + "task_desc": "Put a metal pot a potato slice in it on a white table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AVBRJBJONL47I_3NXNZ5RS1DELX8G990APRH85PIR97W", + "high_descs": [ + "Walk to the counter next to the sink", + "Pick up the knife on the counter", + "slice the potato next to the sink", + "pick up a slice of potato", + "put the knife back on the counter", + "turn around and carry the slice of potato to the stove", + "place the slice of potato in the pan on the left side of the stove", + "pick up the pan from the stove", + "turn around and carry the pan to the square table with the plate on it ", + "place the pan on the table with the handle pointing at the chair and the tip of the pan on the edge of the plate" + ], + "task_desc": "Cook a slice of potato and serve it on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_3RGU30DZTDPTON05ZI3RZTJYGERMJC", + "high_descs": [ + "Walk to table, turn right to face counter next to sink.", + "Pick up knife that is next to potato.", + "Cut potato in half with knife.", + "Place knife on top of salt shaker on the counter.", + "Pick up a middle slice of the potato.", + "Turn around and walk to the stove on the right. Face the stove.", + "Place potato slice in the pot on the left side of the stove top.", + "Pick up the pot from the stove that contains the potato, on the left hand side.", + "Turn around and carry the pot with the potato to the table behind you.", + "Place the pot on the table, on the edge of the plate." + ], + "task_desc": "Prepare a potato to eat.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-TomatoSliced-Bowl-Fridge-20/trial_T20190907_060455_935544/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-TomatoSliced-Bowl-Fridge-20/trial_T20190907_060455_935544/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6e39f4c0f7beeb15b52dadcb8ffae9668d425858 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_and_place_with_movable_recep-TomatoSliced-Bowl-Fridge-20/trial_T20190907_060455_935544/initial_state.pddl @@ -0,0 +1,990 @@ + +(define (problem plan_trial_T20190907_060455_935544) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_01_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_91 - object + Bowl_bar__plus_01_dot_22_bar__plus_00_dot_12_bar__minus_01_dot_97 - object + Bowl_bar__plus_01_dot_46_bar__plus_00_dot_55_bar__plus_02_dot_48 - object + Bowl_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_03 - object + Bread_bar__plus_00_dot_07_bar__plus_00_dot_97_bar__plus_00_dot_99 - object + Bread_bar__plus_00_dot_18_bar__plus_00_dot_97_bar__plus_00_dot_53 - object + ButterKnife_bar__minus_00_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_10 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__minus_00_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_58 - object + DishSponge_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + DishSponge_bar__minus_01_dot_07_bar__plus_00_dot_91_bar__minus_02_dot_26 - object + DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_79 - object + Egg_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_31 - object + Egg_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_31 - object + Faucet_bar__minus_00_dot_14_bar__plus_01_dot_03_bar__minus_02_dot_22 - object + Fork_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + Fork_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_02_dot_08 - object + Knife_bar__plus_01_dot_15_bar__plus_00_dot_94_bar__minus_02_dot_00 - object + Ladle_bar__plus_00_dot_50_bar__plus_01_dot_70_bar__minus_02_dot_16 - object + Lettuce_bar__minus_01_dot_57_bar__plus_01_dot_59_bar__minus_00_dot_70 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__minus_01_dot_50_bar__plus_01_dot_50_bar__minus_00_dot_50 - object + 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+ loc_bar__minus_4_bar_3_bar_1_bar_45 - location + loc_bar__minus_4_bar_5_bar_1_bar_60 - location + loc_bar_6_bar_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_1_bar_1_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar_6_bar_4_bar_1_bar_15 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_5_bar_5_bar_0_bar_45 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_30 - location + loc_bar_0_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 CabinetType) + (receptacleType 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(receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 StoveBurnerType) + (receptacleType CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType 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"scene_num": 20 + }, + "task_id": "trial_T20190907_060455_935544", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_3QAVNHZ3EPLYHCFG50PZ6H1QQGLLAV", + "high_descs": [ + "Turn around so that you are facing the coffee pot and toaster. ", + "Pick up the knife that is on the counter, by the coffee pot. ", + "Turn around and walk towards the stove, stopping at the green bucket on the floor, by the stove, and under the window. ", + "Cut the tomato in the green bucket into slices. ", + "Place the knife in the green bucket. ", + "Pick up one of the slices of tomato.", + "Turn to your left and walk past the windows, straight across the room, to the wooden shelf. ", + "Place the tomato slice onto a plate from the shelf. ", + "Pick up the plate with the tomato slice on it. ", + "Turn around and walk across the room, past the stove, then turn right at the dishwasher and proceed to the refrigerator.", + "Place the plate with the tomato on it in the refrigerator, beside the apple." + ], + "task_desc": "Put a plate containing a tomato slice on it, in the refrigerator. ", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3XM0HYN6NNGRYABQDXKSJH01G57EP4", + "high_descs": [ + "Turn right, then right again to face the coffee maker and knife.", + "Pick up the knife from the counter.", + "Turn around then face the green trash can to your right.", + "Slice the tomato in the green trash can.", + "Put the knife in the green trash can.", + "Take a slice of tomato from the green trash can.", + "Turn left and head towards the brown shelves in front of you.", + "Put the tomato slice on the plate on the brown shelves.", + "Take the plate with the tomato slice from the brown shelves.", + "Turn around, then right and head towards the fridge.", + "Place the plate with the tomato slice in the fridge and close it." + ], + "task_desc": "Place a tomato slice in the fridge.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3PGS1Q1XAY79I_3TVSS0C0E4HJ72QOFENIAX8YCHGWT0", + "high_descs": [ + "Turn to your right and walk to the stove.", + "Hang a right and walk to the coffee maker with a yellow-handled knife on it, pick up the knife.", + "Turn to your left and walk to the green bin at the left side of the stove.", + "Slice the tomato that is in the green bin.", + "Place the knife in the bin to the left of the tomato.", + "Pick up the center slice of the tomato.", + "Turn to your left and walk to the brown rack against the wall.", + "Place the tomato slice in the bowl on the second shelf from the bottom.", + "Pick up the bowl with the tomato in it.", + "Turn around and walk to the counter with the coffee maker on it, hang a right to the fridge.", + "Open the fridge door and put the bowl with the tomato on the shelf to the right of the tomato and apple, close the door." + ], + "task_desc": "Refrigerate a tomato slice in a bowl", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A255A9FFZD8PQW_3E1QT0TDFSQI8NEVNZ88IA33JV7I84", + "high_descs": [ + "Turn right and walk to the oven then make another right and walk to the counter.", + "Pick up the knife with the yellow handle that is on the counter top. ", + "Turn around with the knife and walk forward to a green bin. Turn right to face it.", + "Slice the tomato that is in the green bin.", + "Place the knife inside the green bin.", + "Pick up one slice of the tomato. ", + "Turn left and walk over to the shelf with the tomato slice.", + "Place the tomato slice inside the bowl.", + "Pick up the bowl with the tomato slice from the shelf. ", + "Turn to the right and walk forward with the bowl.Turn right again and walk to the refrigerator. ", + "Put the bowl with the tomato slice inside the refrigerator and close it. " + ], + "task_desc": "Chill a slice of tomato in the refrigerator. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3VJ40NV2QL4B2THMOSW8T3VC9GHTON", + "high_descs": [ + "Turn right and walk to the stove then turn right and walk to the counter.", + "Pick up the yellow handled knife.", + "Turn around and walk past the stove then turn right and walk to the green garbage.", + "Cut the tomato in the garbage into slices.", + "Put the knife in the green garbage.", + "Pick up a slice of potato.", + "Turn left and walk to the shelves then take a step to your right.", + "Put the tomato in the clear bowl that's on the shelves in front of you.", + "Pick up the bowl with the tomato in it.", + "Turn left and take a step then turn left and walk almost to the counter then turn right and walk to the fridge.", + "Put the bowl in the fridge to the right of the tomato." + ], + "task_desc": "Put a bowl with a tomato in it in the fridge.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-8/trial_T20190909_124425_112757/game.tw-pddl b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-8/trial_T20190909_124425_112757/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a68a13111e423d714ad84f03ed6e1a8ee5f199e3 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-8/trial_T20190909_124425_112757/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some butterknife and put it in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_124425_112757)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_81 - object\n Apple_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__minus_01_dot_71 - object\n Bowl_bar__plus_01_dot_28_bar__plus_01_dot_66_bar__minus_00_dot_66 - object\n Bread_bar__plus_00_dot_66_bar__plus_00_dot_99_bar__minus_01_dot_53 - object\n Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79 - object\n ButterKnife_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_66 - object\n ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_62 - object\n Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 - object\n Cup_bar__plus_01_dot_41_bar__plus_01_dot_27_bar__minus_00_dot_02 - object\n Cup_bar__minus_01_dot_76_bar__plus_00_dot_12_bar__minus_01_dot_54 - object\n Cup_bar__minus_02_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_54 - object\n DishSponge_bar__plus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_56 - object\n DishSponge_bar__plus_01_dot_45_bar__plus_01_dot_16_bar__minus_01_dot_35 - object\n Egg_bar__plus_01_dot_41_bar__plus_01_dot_19_bar__minus_01_dot_69 - object\n Egg_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__minus_01_dot_45 - object\n Egg_bar__minus_01_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_88 - object\n Faucet_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_01_dot_87 - object\n Fork_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_20 - object\n Glassbottle_bar__plus_01_dot_46_bar__plus_00_dot_22_bar__plus_01_dot_14 - object\n Glassbottle_bar__minus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_59 - object\n Glassbottle_bar__minus_00_dot_44_bar__plus_00_dot_12_bar__minus_01_dot_68 - object\n HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 - object\n Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 - object\n Kettle_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_38 - object\n Knife_bar__plus_00_dot_92_bar__plus_00_dot_80_bar__minus_01_dot_07 - object\n Ladle_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__minus_01_dot_45 - object\n Ladle_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_20 - object\n Lettuce_bar__plus_01_dot_01_bar__plus_00_dot_98_bar__minus_00_dot_31 - object\n Lettuce_bar__plus_01_dot_38_bar__plus_01_dot_44_bar__plus_02_dot_48 - object\n Lettuce_bar__minus_02_dot_20_bar__plus_00_dot_98_bar__plus_00_dot_29 - object\n LightSwitch_bar__minus_02_dot_54_bar__plus_01_dot_29_bar__plus_02_dot_57 - object\n Mug_bar__plus_00_dot_15_bar__plus_00_dot_91_bar__minus_01_dot_71 - object\n Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 - object\n Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 - object\n Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 - object\n Pen_bar__minus_02_dot_10_bar__plus_00_dot_78_bar__minus_01_dot_57 - object\n Pen_bar__minus_02_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_53 - object\n Pen_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n PepperShaker_bar__plus_00_dot_92_bar__plus_00_dot_11_bar__minus_01_dot_19 - object\n PepperShaker_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__minus_00_dot_65 - object\n PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_11_bar__minus_01_dot_63 - object\n Plate_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_59 - object\n Plate_bar__plus_01_dot_38_bar__plus_01_dot_37_bar__plus_02_dot_23 - object\n Plate_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_87 - object\n Potato_bar__plus_01_dot_33_bar__plus_01_dot_86_bar__plus_02_dot_43 - object\n Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 - object\n SaltShaker_bar__minus_00_dot_39_bar__plus_01_dot_65_bar__minus_01_dot_84 - object\n SaltShaker_bar__minus_01_dot_04_bar__plus_01_dot_85_bar__minus_01_dot_88 - object\n Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 - object\n SoapBottle_bar__plus_01_dot_03_bar__plus_00_dot_11_bar__minus_00_dot_77 - object\n SoapBottle_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_00_dot_32 - object\n SoapBottle_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n Spatula_bar__plus_01_dot_02_bar__plus_00_dot_79_bar__minus_01_dot_01 - object\n Spatula_bar__minus_01_dot_81_bar__plus_00_dot_93_bar__minus_01_dot_71 - object\n Spatula_bar__minus_02_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_03 - object\n Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__minus_00_dot_67 - object\n Spoon_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_31 - object\n Spoon_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_38 - object\n SprayBottle_bar__plus_01_dot_34_bar__plus_00_dot_21_bar__plus_01_dot_14 - object\n StoveKnob_bar__minus_00_dot_96_bar__plus_01_dot_10_bar__minus_01_dot_98 - object\n StoveKnob_bar__minus_01_dot_11_bar__plus_01_dot_10_bar__minus_01_dot_98 - object\n StoveKnob_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__minus_01_dot_98 - object\n StoveKnob_bar__minus_01_dot_52_bar__plus_01_dot_10_bar__minus_01_dot_98 - object\n Tomato_bar__plus_01_dot_39_bar__plus_01_dot_76_bar__plus_01_dot_84 - object\n Tomato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_85 - object\n Tomato_bar__plus_01_dot_45_bar__plus_01_dot_20_bar__minus_01_dot_00 - object\n Window_bar__minus_00_dot_49_bar__plus_01_dot_45_bar__plus_03_dot_30 - object\n Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle\n Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55 - receptacle\n Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37 - receptacle\n Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34 - receptacle\n Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_02_dot_06_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_20_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__minus_01_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68 - receptacle\n Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle\n Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle\n CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88 - receptacle\n CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65 - receptacle\n CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66 - receptacle\n CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71 - receptacle\n CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29 - receptacle\n Drawer_bar__plus_00_dot_59_bar__plus_00_dot_75_bar__minus_01_dot_39 - receptacle\n Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_43 - receptacle\n Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__minus_00_dot_70 - receptacle\n Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14 - receptacle\n Drawer_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_01_dot_39 - receptacle\n Drawer_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_39 - receptacle\n Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39 - receptacle\n Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10 - receptacle\n GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08 - receptacle\n Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02 - receptacle\n Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_53 - receptacle\n StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81 - receptacle\n StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53 - receptacle\n StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81 - receptacle\n Toaster_bar__minus_02_dot_07_bar__plus_00_dot_90_bar__minus_01_dot_85 - receptacle\n loc_bar_1_bar_1_bar_1_bar_60 - location\n loc_bar_1_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_2_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_8_bar_10_bar_3_bar_30 - location\n loc_bar__minus_2_bar_11_bar_0_bar_15 - location\n loc_bar_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_4_bar_2_bar_45 - location\n loc_bar_2_bar_9_bar_1_bar_60 - location\n loc_bar_0_bar_0_bar_1_bar_60 - location\n loc_bar_0_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_10_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar_2_bar_9_bar_1_bar_15 - location\n loc_bar_2_bar__minus_4_bar_2_bar_45 - location\n loc_bar_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_3_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_2_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar__minus_2_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar_1_bar__minus_4_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar_0_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location\n loc_bar_1_bar_7_bar_1_bar_60 - location\n loc_bar_2_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location\n 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Tomato_bar__plus_01_dot_45_bar__plus_01_dot_20_bar__minus_01_dot_00)\n (heatable Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79)\n (heatable Plate_bar__plus_01_dot_38_bar__plus_01_dot_37_bar__plus_02_dot_23)\n (heatable Potato_bar__plus_01_dot_33_bar__plus_01_dot_86_bar__plus_02_dot_43)\n (heatable Cup_bar__minus_01_dot_76_bar__plus_00_dot_12_bar__minus_01_dot_54)\n (heatable Tomato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_85)\n (heatable Mug_bar__plus_00_dot_15_bar__plus_00_dot_91_bar__minus_01_dot_71)\n (heatable Plate_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_59)\n (heatable Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64)\n (heatable Tomato_bar__plus_01_dot_39_bar__plus_01_dot_76_bar__plus_01_dot_84)\n (heatable Egg_bar__minus_01_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_88)\n (heatable Cup_bar__minus_02_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_54)\n (heatable Plate_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_87)\n (coolable Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25)\n (coolable Egg_bar__plus_01_dot_41_bar__plus_01_dot_19_bar__minus_01_dot_69)\n (coolable Apple_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__minus_01_dot_71)\n (coolable Lettuce_bar__minus_02_dot_20_bar__plus_00_dot_98_bar__plus_00_dot_29)\n (coolable Apple_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_81)\n (coolable Lettuce_bar__plus_01_dot_01_bar__plus_00_dot_98_bar__minus_00_dot_31)\n (coolable Egg_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__minus_01_dot_45)\n (coolable Bread_bar__plus_00_dot_66_bar__plus_00_dot_99_bar__minus_01_dot_53)\n (coolable Cup_bar__plus_01_dot_41_bar__plus_01_dot_27_bar__minus_00_dot_02)\n (coolable Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53)\n (coolable Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81)\n (coolable 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Cup_bar__minus_02_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_54)\n (coolable Plate_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_87)\n (coolable Lettuce_bar__plus_01_dot_38_bar__plus_01_dot_44_bar__plus_02_dot_48)\n \n \n \n \n \n (sliceable Egg_bar__plus_01_dot_41_bar__plus_01_dot_19_bar__minus_01_dot_69)\n (sliceable Apple_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__minus_01_dot_71)\n (sliceable Lettuce_bar__minus_02_dot_20_bar__plus_00_dot_98_bar__plus_00_dot_29)\n (sliceable Apple_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_81)\n (sliceable Lettuce_bar__plus_01_dot_01_bar__plus_00_dot_98_bar__minus_00_dot_31)\n (sliceable Egg_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__minus_01_dot_45)\n (sliceable Bread_bar__plus_00_dot_66_bar__plus_00_dot_99_bar__minus_01_dot_53)\n (sliceable Tomato_bar__plus_01_dot_45_bar__plus_01_dot_20_bar__minus_01_dot_00)\n (sliceable Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79)\n (sliceable Potato_bar__plus_01_dot_33_bar__plus_01_dot_86_bar__plus_02_dot_43)\n (sliceable Tomato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_85)\n (sliceable Tomato_bar__plus_01_dot_39_bar__plus_01_dot_76_bar__plus_01_dot_84)\n (sliceable Egg_bar__minus_01_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_88)\n (sliceable Lettuce_bar__plus_01_dot_38_bar__plus_01_dot_44_bar__plus_02_dot_48)\n \n (inReceptacle Knife_bar__plus_00_dot_92_bar__plus_00_dot_80_bar__minus_01_dot_07 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14)\n (inReceptacle Spatula_bar__plus_01_dot_02_bar__plus_00_dot_79_bar__minus_01_dot_01 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14)\n (inReceptacle SaltShaker_bar__minus_01_dot_04_bar__plus_01_dot_85_bar__minus_01_dot_88 Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69)\n (inReceptacle SaltShaker_bar__minus_00_dot_39_bar__plus_01_dot_65_bar__minus_01_dot_84 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69)\n (inReceptacle SoapBottle_bar__plus_01_dot_03_bar__plus_00_dot_11_bar__minus_00_dot_77 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55)\n (inReceptacle PepperShaker_bar__plus_00_dot_92_bar__plus_00_dot_11_bar__minus_01_dot_19 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37)\n (inReceptacle Glassbottle_bar__minus_00_dot_44_bar__plus_00_dot_12_bar__minus_01_dot_68 Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39)\n (inReceptacle Glassbottle_bar__minus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_59 Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39)\n (inReceptacle PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_11_bar__minus_01_dot_63 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39)\n (inReceptacle Bowl_bar__plus_01_dot_28_bar__plus_01_dot_66_bar__minus_00_dot_66 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34)\n (inReceptacle Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__minus_00_dot_67 Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__minus_00_dot_70)\n (inReceptacle Plate_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_59 Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39)\n (inReceptacle Pen_bar__minus_02_dot_10_bar__plus_00_dot_78_bar__minus_01_dot_57 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39)\n (inReceptacle Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81)\n (inReceptacle Spatula_bar__minus_01_dot_81_bar__plus_00_dot_93_bar__minus_01_dot_71 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Egg_bar__minus_01_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_88 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_62 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Ladle_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__minus_01_dot_45 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Pen_bar__minus_02_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_53 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle PepperShaker_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__minus_00_dot_65 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Lettuce_bar__plus_01_dot_01_bar__plus_00_dot_98_bar__minus_00_dot_31 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Spoon_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_31 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Egg_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__minus_01_dot_45 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Bread_bar__plus_00_dot_66_bar__plus_00_dot_99_bar__minus_01_dot_53 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Plate_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_87 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Lettuce_bar__minus_02_dot_20_bar__plus_00_dot_98_bar__plus_00_dot_29 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Spatula_bar__minus_02_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_03 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Pen_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Fork_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_20 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle SoapBottle_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Spoon_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Kettle_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Ladle_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_20 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Cup_bar__minus_02_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_54 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39)\n (inReceptacle SoapBottle_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_00_dot_32 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle Tomato_bar__plus_01_dot_45_bar__plus_01_dot_20_bar__minus_01_dot_00 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle DishSponge_bar__plus_01_dot_45_bar__plus_01_dot_16_bar__minus_01_dot_35 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle Egg_bar__plus_01_dot_41_bar__plus_01_dot_19_bar__minus_01_dot_69 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle Cup_bar__minus_01_dot_76_bar__plus_00_dot_12_bar__minus_01_dot_54 Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39)\n (inReceptacle Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53)\n (inReceptacle Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81)\n (inReceptacle Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88)\n (inReceptacle SprayBottle_bar__plus_01_dot_34_bar__plus_00_dot_21_bar__plus_01_dot_14 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08)\n (inReceptacle Glassbottle_bar__plus_01_dot_46_bar__plus_00_dot_22_bar__plus_01_dot_14 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08)\n (inReceptacle Lettuce_bar__plus_01_dot_38_bar__plus_01_dot_44_bar__plus_02_dot_48 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Tomato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_85 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Potato_bar__plus_01_dot_33_bar__plus_01_dot_86_bar__plus_02_dot_43 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Tomato_bar__plus_01_dot_39_bar__plus_01_dot_76_bar__plus_01_dot_84 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Apple_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__minus_01_dot_71 Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin)\n (inReceptacle Cup_bar__plus_01_dot_41_bar__plus_01_dot_27_bar__minus_00_dot_02 Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar_2_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67 loc_bar_0_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55 loc_bar_0_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34 loc_bar_2_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02 loc_bar_1_bar__minus_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar_1_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_4_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68 loc_bar__minus_8_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88 loc_bar_2_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_59_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_1_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_43 loc_bar_1_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__minus_00_dot_70 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14 loc_bar_0_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_4_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10 loc_bar_2_bar_9_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08 loc_bar_1_bar_7_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_30)\n (receptacleAtLocation Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81 loc_bar__minus_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_07_bar__plus_00_dot_90_bar__minus_01_dot_85 loc_bar__minus_10_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 loc_bar_2_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_31 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_81 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_56 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_92_bar__plus_00_dot_11_bar__minus_01_dot_19 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_62 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_00_dot_32 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_02_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_41_bar__plus_01_dot_19_bar__minus_01_dot_69 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Cup_bar__minus_02_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_54 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_39_bar__plus_01_dot_65_bar__minus_01_dot_84 loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pen_bar__minus_02_dot_10_bar__plus_00_dot_78_bar__minus_01_dot_57 loc_bar__minus_6_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_20_bar__plus_00_dot_98_bar__plus_00_dot_29 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Ladle_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_20 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_87 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Glassbottle_bar__minus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_59 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_85 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_38_bar__plus_01_dot_44_bar__plus_02_dot_48 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_11_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_45_bar__plus_01_dot_20_bar__minus_01_dot_00 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_03_bar__plus_00_dot_11_bar__minus_00_dot_77 loc_bar_0_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_38_bar__plus_01_dot_37_bar__plus_02_dot_23 loc_bar_2_bar_9_bar_1_bar_15)\n (objectAtLocation Cup_bar__plus_01_dot_41_bar__plus_01_dot_27_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_30)\n (objectAtLocation Egg_bar__minus_01_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_88 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_03 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Glassbottle_bar__plus_01_dot_46_bar__plus_00_dot_22_bar__plus_01_dot_14 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_54_bar__plus_01_dot_29_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_01_dot_39_bar__plus_01_dot_76_bar__plus_01_dot_84 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_5_bar__minus_4_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_96_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_4_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_52_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_11_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_44_bar__plus_00_dot_12_bar__minus_01_dot_68 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_92_bar__plus_00_dot_80_bar__minus_01_dot_07 loc_bar_0_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_59 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_20 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__minus_01_dot_45 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_33_bar__plus_01_dot_86_bar__plus_02_dot_43 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_01_bar__plus_00_dot_98_bar__minus_00_dot_31 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 loc_bar__minus_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pen_bar__minus_02_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_53 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_04_bar__plus_01_dot_85_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Cup_bar__minus_01_dot_76_bar__plus_00_dot_12_bar__minus_01_dot_54 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_49_bar__plus_01_dot_45_bar__plus_03_dot_30 loc_bar__minus_2_bar_11_bar_0_bar_15)\n (objectAtLocation Egg_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__minus_01_dot_45 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_81_bar__plus_00_dot_93_bar__minus_01_dot_71 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_28_bar__plus_01_dot_66_bar__minus_00_dot_66 loc_bar_2_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation SprayBottle_bar__plus_01_dot_34_bar__plus_00_dot_21_bar__plus_01_dot_14 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__minus_00_dot_65 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_45_bar__plus_01_dot_16_bar__minus_01_dot_35 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Bread_bar__plus_00_dot_66_bar__plus_00_dot_99_bar__minus_01_dot_53 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__minus_00_dot_67 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_15_bar__plus_00_dot_91_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ButterKnifeType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 4", "take butterknife 2 from countertop 4", "go to sinkbasin 1", "clean butterknife 2 with sinkbasin 1", "go to drawer 1", "open drawer 1", "move butterknife 2 to drawer 1"]} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-8/trial_T20190909_124425_112757/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-8/trial_T20190909_124425_112757/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..54378a43873d7bc2e179c542d85241d9ed0b6d2d --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-ButterKnife-None-Drawer-8/trial_T20190909_124425_112757/initial_state.pddl @@ -0,0 +1,1351 @@ + +(define (problem plan_trial_T20190909_124425_112757) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - 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Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64) + (coolable Tomato_bar__plus_01_dot_39_bar__plus_01_dot_76_bar__plus_01_dot_84) + (coolable Egg_bar__minus_01_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_88) + (coolable Cup_bar__minus_02_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_54) + (coolable Plate_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_87) + (coolable Lettuce_bar__plus_01_dot_38_bar__plus_01_dot_44_bar__plus_02_dot_48) + + + + + + (sliceable Egg_bar__plus_01_dot_41_bar__plus_01_dot_19_bar__minus_01_dot_69) + (sliceable Apple_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__minus_01_dot_71) + (sliceable Lettuce_bar__minus_02_dot_20_bar__plus_00_dot_98_bar__plus_00_dot_29) + (sliceable Apple_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_81) + (sliceable Lettuce_bar__plus_01_dot_01_bar__plus_00_dot_98_bar__minus_00_dot_31) + (sliceable Egg_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__minus_01_dot_45) + (sliceable Bread_bar__plus_00_dot_66_bar__plus_00_dot_99_bar__minus_01_dot_53) + (sliceable Tomato_bar__plus_01_dot_45_bar__plus_01_dot_20_bar__minus_01_dot_00) + (sliceable Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79) + (sliceable Potato_bar__plus_01_dot_33_bar__plus_01_dot_86_bar__plus_02_dot_43) + (sliceable Tomato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_85) + (sliceable Tomato_bar__plus_01_dot_39_bar__plus_01_dot_76_bar__plus_01_dot_84) + (sliceable Egg_bar__minus_01_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_88) + (sliceable Lettuce_bar__plus_01_dot_38_bar__plus_01_dot_44_bar__plus_02_dot_48) + + (inReceptacle Knife_bar__plus_00_dot_92_bar__plus_00_dot_80_bar__minus_01_dot_07 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14) + (inReceptacle Spatula_bar__plus_01_dot_02_bar__plus_00_dot_79_bar__minus_01_dot_01 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14) + (inReceptacle SaltShaker_bar__minus_01_dot_04_bar__plus_01_dot_85_bar__minus_01_dot_88 Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69) + (inReceptacle SaltShaker_bar__minus_00_dot_39_bar__plus_01_dot_65_bar__minus_01_dot_84 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69) + (inReceptacle SoapBottle_bar__plus_01_dot_03_bar__plus_00_dot_11_bar__minus_00_dot_77 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55) + (inReceptacle PepperShaker_bar__plus_00_dot_92_bar__plus_00_dot_11_bar__minus_01_dot_19 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37) + (inReceptacle Glassbottle_bar__minus_00_dot_44_bar__plus_00_dot_12_bar__minus_01_dot_68 Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39) + (inReceptacle Glassbottle_bar__minus_00_dot_31_bar__plus_00_dot_12_bar__minus_01_dot_59 Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39) + (inReceptacle PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_11_bar__minus_01_dot_63 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39) + (inReceptacle Bowl_bar__plus_01_dot_28_bar__plus_01_dot_66_bar__minus_00_dot_66 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34) + (inReceptacle Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__minus_00_dot_67 Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__minus_00_dot_70) + (inReceptacle Plate_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_59 Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39) + (inReceptacle Pen_bar__minus_02_dot_10_bar__plus_00_dot_78_bar__minus_01_dot_57 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39) + (inReceptacle Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81) + (inReceptacle Spatula_bar__minus_01_dot_81_bar__plus_00_dot_93_bar__minus_01_dot_71 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle Egg_bar__minus_01_dot_89_bar__plus_00_dot_94_bar__minus_01_dot_88 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_62 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle Ladle_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__minus_01_dot_45 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle Pen_bar__minus_02_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_53 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle PepperShaker_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__minus_00_dot_65 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Lettuce_bar__plus_01_dot_01_bar__plus_00_dot_98_bar__minus_00_dot_31 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Spoon_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_31 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Egg_bar__minus_00_dot_63_bar__plus_00_dot_94_bar__minus_01_dot_45 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Bread_bar__plus_00_dot_66_bar__plus_00_dot_99_bar__minus_01_dot_53 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Plate_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_87 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Lettuce_bar__minus_02_dot_20_bar__plus_00_dot_98_bar__plus_00_dot_29 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Spatula_bar__minus_02_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_03 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Pen_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Fork_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_20 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle SoapBottle_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Spoon_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Kettle_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Ladle_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_20 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Cup_bar__minus_02_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_54 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39) + (inReceptacle SoapBottle_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_00_dot_32 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Tomato_bar__plus_01_dot_45_bar__plus_01_dot_20_bar__minus_01_dot_00 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle DishSponge_bar__plus_01_dot_45_bar__plus_01_dot_16_bar__minus_01_dot_35 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Egg_bar__plus_01_dot_41_bar__plus_01_dot_19_bar__minus_01_dot_69 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Cup_bar__minus_01_dot_76_bar__plus_00_dot_12_bar__minus_01_dot_54 Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39) + (inReceptacle Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53) + (inReceptacle Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81) + (inReceptacle Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88) + (inReceptacle SprayBottle_bar__plus_01_dot_34_bar__plus_00_dot_21_bar__plus_01_dot_14 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle Glassbottle_bar__plus_01_dot_46_bar__plus_00_dot_22_bar__plus_01_dot_14 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle Lettuce_bar__plus_01_dot_38_bar__plus_01_dot_44_bar__plus_02_dot_48 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Tomato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_85 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Potato_bar__plus_01_dot_33_bar__plus_01_dot_86_bar__plus_02_dot_43 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Tomato_bar__plus_01_dot_39_bar__plus_01_dot_76_bar__plus_01_dot_84 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Apple_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__minus_01_dot_71 Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin) + (inReceptacle Cup_bar__plus_01_dot_41_bar__plus_01_dot_27_bar__minus_00_dot_02 Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar_2_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67 loc_bar_0_bar_0_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55 loc_bar_0_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37 loc_bar_0_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34 loc_bar_2_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02 loc_bar_1_bar__minus_4_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar_1_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar_2_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_4_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68 loc_bar__minus_8_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88 loc_bar_2_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65 loc_bar_2_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66 loc_bar_2_bar__minus_4_bar_1_bar_30) + (receptacleAtLocation CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71 loc_bar__minus_8_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar__minus_8_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_59_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_1_bar__minus_4_bar_1_bar_45) 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"x": 0.664081335, + "y": 0.9894411, + "z": -1.53404093 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_0f08525d", + "position": { + "x": 1.01072, + "y": 0.980465353, + "z": -0.309145331 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_0f08525d", + "position": { + "x": 1.37600136, + "y": 1.43663275, + "z": 2.47600031 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Mug_49b86ad0", + "position": { + "x": 0.14961265, + "y": 0.9145499, + "z": -1.7080245 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_b66a32b5", + "position": { + "x": -0.0869308859, + "y": 0.8175694, + "z": -1.70783865 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_441a8bda", + "position": { + "x": 1.42646813, + "y": 1.407585, + "z": 1.85099983 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Glassbottle_b308514b", + "position": { + "x": -0.309914231, + "y": 0.117470026, + "z": -1.5866 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_af290bda", + "position": { + "x": 0.9161422, + "y": 0.802862763, + "z": -1.06875849 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_9b9c5535", + "position": { + "x": -0.477255583, + "y": 0.9119687, + "z": -1.87489557 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_7aaf3771", + "position": { + "x": -1.835049, + "y": 0.911048532, + "z": 0.204750121 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_238538e2", + "position": { + "x": -2.32376337, + "y": 0.9548624, + "z": 0.204750121 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_1cf505ed", + "position": { + "x": 1.33281374, + "y": 1.859023, + "z": 2.43214321 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_0f08525d", + "position": { + "x": -2.20158482, + "y": 0.979665339, + "z": 0.291 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_e75d4607", + "position": { + "x": -1.71287048, + "y": 0.9115413, + "z": 0.3772499 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_73e168e3", + "position": { + "x": -2.1035, + "y": 0.7759144, + "z": -1.56547654 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_a2768593", + "position": { + "x": -0.3863028, + "y": 1.65057492, + "z": -1.839 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_bfcb0336", + "position": { + "x": -2.140427, + "y": 0.112243295, + "z": -1.53563261 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_e08d0eeb", + "position": { + "x": 1.41487837, + "y": 1.19152927, + "z": -1.68895817 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_1d30af71", + "position": { + "x": 1.015, + "y": 0.789916754, + "z": -1.013817 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_a0ece05a", + "position": { + "x": 1.283191, + "y": 1.65661514, + "z": -0.658 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_abf5c390", + "position": { + "x": 1.34153056, + "y": 0.213943, + "z": 1.13796043 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_c0048524", + "position": { + "x": -1.0811, + "y": 0.949799955, + "z": -1.81 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_c69c5340", + "position": { + "x": 1.37525809, + "y": 1.16210353, + "z": -0.3157146 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_316d55f0", + "position": { + "x": 0.9673953, + "y": 0.9, + "z": 0.249277115 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_7cca838f", + "position": { + "x": -1.88603711, + "y": 0.9105421, + "z": -1.62075019 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_1de14ecd", + "position": { + "x": 0.9195629, + "y": 0.110209227, + "z": -1.18653619 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_b7024f32", + "position": { + "x": 0.217776537, + "y": 0.919114232, + "z": -1.55668831 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_9b638b9f", + "position": { + "x": -0.7033658, + "y": 0.9894411, + "z": -1.78968191 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_b66a32b5", + "position": { + "x": 0.251858443, + "y": 0.9542329, + "z": -1.80891538 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_6f7c42a7", + "position": { + "x": 1.17697, + "y": 0.9124294, + "z": -0.309145331 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_49b86ad0", + "position": { + "x": 1.07070017, + "y": 0.9575, + "z": -1.64179993 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1720632101, + "scene_num": 8 + }, + "task_id": "trial_T20190909_124425_112757", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_358UUM7WR2UZMXYTZPZSJOS1PA1R7E", + "high_descs": [ + "Walk ahead, and then veer right to the sink.", + "Pick up the knife to the left of the sink.", + "Take a step right.", + "Wash the knife in the sink.", + "Turn left.", + "Open the drawer in the corner, the one on the right side counter. Place the knife in it." + ], + "task_desc": "Place a clean knife in a drawer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_39GHHAVOMIIL5MXXPMSCELM0ORL4JJ", + "high_descs": [ + "Walk forward, then hang a left and walk over to the sink.", + "Pick up the butter knife off of the counter to the left of the sink.", + "Turn right and walk forward, then turn left to face the sink.", + "Put the butter knife in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean butter knife.", + "Turn left to face the counter.", + "Open the last drawer on your right and put the clean butter knife inside, then close the drawer." + ], + "task_desc": "Put a clean butter knife in a drawer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3YOH7BII0CYFAJMUR3TBOQMQG1XKVR", + "high_descs": [ + "Turn right and go to the sink.", + "Pick up the knife on the left side of the sink. ", + "Go to the right side of the sink.", + "Rinse off the knife in the sink and pick it back up.", + "Turn left toward the bread on the counter.", + "Put the knife in the drawer below the bread." + ], + "task_desc": "Put a rinsed off knife in the drawer.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Cloth-None-BathtubBasin-402/trial_T20190909_154521_553270/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Cloth-None-BathtubBasin-402/trial_T20190909_154521_553270/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f207a2a33fcb225345aa1e51e5493db214af6a88 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Cloth-None-BathtubBasin-402/trial_T20190909_154521_553270/initial_state.pddl @@ -0,0 +1,510 @@ + +(define (problem plan_trial_T20190909_154521_553270) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 - object + Candle_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_02_dot_10 - object + Candle_bar__minus_03_dot_83_bar__plus_00_dot_55_bar__plus_01_dot_48 - object + Cloth_bar__minus_03_dot_45_bar__plus_00_dot_19_bar__plus_03_dot_60 - object + Faucet_bar__minus_00_dot_58_bar__plus_01_dot_05_bar__plus_05_dot_10 - object + Faucet_bar__minus_01_dot_52_bar__plus_01_dot_05_bar__plus_05_dot_10 - object + Faucet_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__plus_03_dot_81 - object + HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 - object + HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 - object + LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 - object + Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 - object + Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 - object + ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 - object + ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 - object + ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 - object + ShowerHead_bar__minus_00_dot_18_bar__plus_01_dot_26_bar__plus_00_dot_88 - object + Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 - object + Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 - object + SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_03 - object + SoapBar_bar__minus_02_dot_23_bar__plus_00_dot_03_bar__plus_04_dot_92 - object + SoapBar_bar__minus_03_dot_27_bar__plus_00_dot_68_bar__plus_03_dot_97 - object + SoapBottle_bar__minus_01_dot_38_bar__plus_00_dot_04_bar__plus_05_dot_01 - object + SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74 - object + SprayBottle_bar__minus_01_dot_65_bar__plus_00_dot_04_bar__plus_04_dot_77 - object + SprayBottle_bar__minus_03_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_56 - object + TissueBox_bar__minus_03_dot_71_bar__plus_00_dot_54_bar__plus_01_dot_11 - object + ToiletPaper_bar__minus_00_dot_71_bar__plus_00_dot_03_bar__plus_05_dot_01 - object + ToiletPaper_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_04_dot_93 - object + Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 - object + Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle + Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle + Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle + Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle + CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 - receptacle + GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 - receptacle + HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 - receptacle + HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 - receptacle + Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 - receptacle + Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 - receptacle + Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 - receptacle + TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 - receptacle + TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 - receptacle + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_9_bar_8_bar_3_bar_30 - location + loc_bar__minus_2_bar_15_bar_1_bar_60 - location + loc_bar__minus_2_bar_8_bar_2_bar_60 - location + loc_bar__minus_11_bar_16_bar_0_bar_60 - location + loc_bar__minus_3_bar_15_bar_0_bar_60 - location + loc_bar__minus_8_bar_9_bar_2_bar_0 - location + loc_bar__minus_9_bar_18_bar_0_bar_15 - location + loc_bar__minus_2_bar_16_bar_0_bar_0 - location + loc_bar__minus_2_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_18_bar_0_bar_30 - location + loc_bar__minus_4_bar_17_bar_0_bar_0 - location + loc_bar__minus_6_bar_17_bar_0_bar_45 - location + loc_bar__minus_2_bar_10_bar_0_bar_60 - location + loc_bar__minus_5_bar_15_bar_0_bar_60 - location + loc_bar__minus_7_bar_15_bar_0_bar_60 - location + loc_bar__minus_2_bar_8_bar_2_bar_45 - location + loc_bar__minus_7_bar_9_bar_2_bar_45 - location + loc_bar__minus_2_bar_17_bar_0_bar_45 - location + loc_bar__minus_2_bar_15_bar_1_bar_45 - location + loc_bar__minus_4_bar_17_bar_0_bar_45 - location + loc_bar__minus_10_bar_13_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 GarbageCanType) + (receptacleType TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 TowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 ToiletType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 HandTowelHolderType) + (receptacleType TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 ShelfType) + (receptacleType Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin SinkBasinType) + (objectType Cloth_bar__minus_03_dot_45_bar__plus_00_dot_19_bar__plus_03_dot_60 ClothType) + (objectType TissueBox_bar__minus_03_dot_71_bar__plus_00_dot_54_bar__plus_01_dot_11 TissueBoxType) + (objectType ToiletPaper_bar__minus_00_dot_71_bar__plus_00_dot_03_bar__plus_05_dot_01 ToiletPaperType) + (objectType SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74 SoapBottleType) + (objectType Candle_bar__minus_03_dot_83_bar__plus_00_dot_55_bar__plus_01_dot_48 CandleType) + (objectType ToiletPaper_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_04_dot_93 ToiletPaperType) + (objectType Candle_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_02_dot_10 CandleType) + (objectType SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_03 SoapBarType) + (objectType SoapBar_bar__minus_03_dot_27_bar__plus_00_dot_68_bar__plus_03_dot_97 SoapBarType) + (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 LightSwitchType) + (objectType HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 HandTowelType) + (objectType Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 BathtubType) + (objectType Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 SinkType) + (objectType ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 ShowerDoorType) + (objectType SprayBottle_bar__minus_01_dot_65_bar__plus_00_dot_04_bar__plus_04_dot_77 SprayBottleType) + (objectType Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 MirrorType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 WindowType) + (objectType HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 HandTowelType) + (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType) + (objectType ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 ScrubBrushType) + (objectType SprayBottle_bar__minus_03_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_56 SprayBottleType) + (objectType Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 SinkType) + (objectType Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 PlungerType) + (objectType SoapBar_bar__minus_02_dot_23_bar__plus_00_dot_03_bar__plus_04_dot_92 SoapBarType) + (objectType Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 TowelType) + (objectType SoapBottle_bar__minus_01_dot_38_bar__plus_00_dot_04_bar__plus_05_dot_01 SoapBottleType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain ToiletType CandleType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain HandTowelHolderType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType CandleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (pickupable Cloth_bar__minus_03_dot_45_bar__plus_00_dot_19_bar__plus_03_dot_60) + (pickupable TissueBox_bar__minus_03_dot_71_bar__plus_00_dot_54_bar__plus_01_dot_11) + (pickupable ToiletPaper_bar__minus_00_dot_71_bar__plus_00_dot_03_bar__plus_05_dot_01) + (pickupable SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74) + (pickupable Candle_bar__minus_03_dot_83_bar__plus_00_dot_55_bar__plus_01_dot_48) + (pickupable ToiletPaper_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_04_dot_93) + (pickupable Candle_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_02_dot_10) + (pickupable SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_03) + (pickupable SoapBar_bar__minus_03_dot_27_bar__plus_00_dot_68_bar__plus_03_dot_97) + (pickupable HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81) + (pickupable SprayBottle_bar__minus_01_dot_65_bar__plus_00_dot_04_bar__plus_04_dot_77) + (pickupable HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11) + (pickupable ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86) + (pickupable SprayBottle_bar__minus_03_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_56) + (pickupable Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54) + (pickupable SoapBar_bar__minus_02_dot_23_bar__plus_00_dot_03_bar__plus_04_dot_92) + (pickupable Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85) + (pickupable SoapBottle_bar__minus_01_dot_38_bar__plus_00_dot_04_bar__plus_05_dot_01) + + (openable Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63) + (openable Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63) + (openable Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63) + (openable Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63) + + (atLocation agent1 loc_bar__minus_10_bar_13_bar_2_bar_30) + + (cleanable Cloth_bar__minus_03_dot_45_bar__plus_00_dot_19_bar__plus_03_dot_60) + (cleanable SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_03) + (cleanable SoapBar_bar__minus_03_dot_27_bar__plus_00_dot_68_bar__plus_03_dot_97) + (cleanable SoapBar_bar__minus_02_dot_23_bar__plus_00_dot_03_bar__plus_04_dot_92) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_03_dot_45_bar__plus_00_dot_19_bar__plus_03_dot_60 Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_02_dot_23_bar__plus_00_dot_03_bar__plus_04_dot_92 GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95) + (inReceptacle ToiletPaper_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_04_dot_93 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88) + (inReceptacle SprayBottle_bar__minus_01_dot_65_bar__plus_00_dot_04_bar__plus_04_dot_77 Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle ToiletPaper_bar__minus_00_dot_71_bar__plus_00_dot_03_bar__plus_05_dot_01 Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle SoapBottle_bar__minus_01_dot_38_bar__plus_00_dot_04_bar__plus_05_dot_01 Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74) + (inReceptacle TissueBox_bar__minus_03_dot_71_bar__plus_00_dot_54_bar__plus_01_dot_11 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle Candle_bar__minus_03_dot_83_bar__plus_00_dot_55_bar__plus_01_dot_48 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle SprayBottle_bar__minus_03_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_56 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15) + (inReceptacle HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81) + (inReceptacle SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_03 Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin loc_bar__minus_10_bar_11_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_3_bar_15_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_5_bar_15_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_7_bar_15_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_5_bar_15_bar_0_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 loc_bar__minus_4_bar_17_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 loc_bar__minus_11_bar_16_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 loc_bar__minus_2_bar_16_bar_0_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 loc_bar__minus_9_bar_18_bar_0_bar_15) + (receptacleAtLocation Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 loc_bar__minus_9_bar_8_bar_3_bar_30) + (receptacleAtLocation Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin loc_bar__minus_2_bar_17_bar_0_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin loc_bar__minus_6_bar_17_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 loc_bar__minus_2_bar_15_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 loc_bar__minus_2_bar_10_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 loc_bar__minus_2_bar_11_bar_1_bar_30) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_65_bar__plus_00_dot_04_bar__plus_04_dot_77 loc_bar__minus_5_bar_15_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_03_dot_27_bar__plus_00_dot_68_bar__plus_03_dot_97 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 loc_bar__minus_2_bar_16_bar_0_bar_0) + (objectAtLocation SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation Candle_bar__minus_03_dot_83_bar__plus_00_dot_55_bar__plus_01_dot_48 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation SoapBar_bar__minus_02_dot_23_bar__plus_00_dot_03_bar__plus_04_dot_92 loc_bar__minus_11_bar_16_bar_0_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 loc_bar__minus_2_bar_8_bar_2_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 loc_bar__minus_6_bar_17_bar_0_bar_45) + (objectAtLocation ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 loc_bar__minus_2_bar_8_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 loc_bar__minus_4_bar_17_bar_0_bar_0) + (objectAtLocation Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 loc_bar__minus_2_bar_17_bar_0_bar_45) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 loc_bar__minus_8_bar_9_bar_2_bar_0) + (objectAtLocation Candle_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_02_dot_10 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_38_bar__plus_00_dot_04_bar__plus_05_dot_01 loc_bar__minus_7_bar_15_bar_0_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 loc_bar__minus_9_bar_18_bar_0_bar_15) + (objectAtLocation Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 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rag back to the tub", + "put the rag in the tub" + ], + "task_desc": "rinse the rag from the tub then put it back ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3MHW492WW34A07MXCF6R33EU56CVMR", + "high_descs": [ + "Turn around and face the end of the tub where the faucet is.", + "Pick the purple cloth up from the tub.", + "Turn left and then to the left again to face the sink on the left.", + "Put the cloth in the sink and turn the water on and then off and pick the cloth up again.", + "Turn around and go right to face the tub.", + "Put the cloth in the tub." + ], + "task_desc": "Put a clean cloth in a tub.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Ladle-None-DiningTable-16/trial_T20190909_183724_205399/game.tw-pddl b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Ladle-None-DiningTable-16/trial_T20190909_183724_205399/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d0512ae9140c8827e61dded6227de6f95742ee89 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Ladle-None-DiningTable-16/trial_T20190909_183724_205399/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a clean ladle in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_183724_205399)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_00_dot_91_bar__plus_00_dot_84_bar__minus_00_dot_18 - object\n Apple_bar__minus_01_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_52 - object\n Bowl_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_84 - object\n Bowl_bar__minus_00_dot_86_bar__plus_00_dot_33_bar__minus_00_dot_52 - object\n Bowl_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_52 - object\n Bread_bar__plus_02_dot_48_bar__plus_00_dot_83_bar__plus_03_dot_77 - object\n Bread_bar__plus_02_dot_60_bar__plus_00_dot_83_bar__plus_03_dot_45 - object\n ButterKnife_bar__plus_02_dot_38_bar__plus_00_dot_76_bar__plus_04_dot_50 - object\n ButterKnife_bar__plus_02_dot_58_bar__plus_00_dot_80_bar__plus_00_dot_78 - object\n ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_42 - object\n Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object\n Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_03_dot_62 - object\n DishSponge_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_00_dot_24 - object\n DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_82_bar__plus_01_dot_18 - object\n Egg_bar__minus_00_dot_85_bar__plus_00_dot_86_bar__plus_01_dot_26 - object\n Egg_bar__minus_00_dot_97_bar__plus_01_dot_49_bar__minus_00_dot_18 - object\n Egg_bar__minus_01_dot_03_bar__plus_00_dot_83_bar__minus_00_dot_63 - object\n Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object\n Fork_bar__plus_02_dot_09_bar__plus_00_dot_77_bar__plus_03_dot_82 - object\n Fork_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_18 - object\n Glassbottle_bar__plus_01_dot_35_bar__plus_01_dot_03_bar__minus_01_dot_99 - object\n HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object\n HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object\n Knife_bar__plus_01_dot_92_bar__plus_00_dot_83_bar__plus_01_dot_40 - object\n Knife_bar__plus_02_dot_01_bar__plus_00_dot_79_bar__plus_03_dot_63 - object\n Knife_bar__plus_02_dot_70_bar__plus_00_dot_79_bar__plus_03_dot_69 - object\n Ladle_bar__plus_02_dot_60_bar__plus_00_dot_80_bar__plus_04_dot_32 - object\n Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_75 - object\n Lettuce_bar__plus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_60 - object\n Lettuce_bar__minus_01_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_18 - object\n LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object\n Mug_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_01_dot_34 - object\n Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 - object\n Mug_bar__minus_00_dot_91_bar__plus_01_dot_78_bar__plus_02_dot_54 - object\n Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 - object\n PaperTowelRoll_bar__minus_01_dot_19_bar__plus_01_dot_13_bar__plus_01_dot_24 - object\n PepperShaker_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_51 - object\n Plate_bar__plus_01_dot_67_bar__plus_02_dot_28_bar__minus_01_dot_87 - object\n Potato_bar__plus_01_dot_67_bar__plus_01_dot_07_bar__plus_01_dot_46 - object\n Potato_bar__plus_02_dot_29_bar__plus_00_dot_81_bar__plus_04_dot_09 - object\n Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_02_dot_07 - object\n Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 - object\n SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_75 - object\n SaltShaker_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_00_dot_31 - object\n SaltShaker_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_04_dot_19 - object\n Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object\n SoapBottle_bar__plus_02_dot_40_bar__plus_01_dot_03_bar__plus_01_dot_30 - object\n SoapBottle_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_03_dot_90 - object\n Spatula_bar__plus_01_dot_74_bar__plus_01_dot_04_bar__plus_01_dot_80 - object\n Spatula_bar__plus_03_dot_00_bar__plus_00_dot_78_bar__plus_04_dot_20 - object\n Spoon_bar__plus_02_dot_27_bar__plus_00_dot_77_bar__plus_03_dot_89 - object\n Spoon_bar__minus_01_dot_17_bar__plus_01_dot_03_bar__plus_02_dot_56 - object\n StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object\n StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object\n StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object\n StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object\n Tomato_bar__plus_01_dot_85_bar__plus_01_dot_08_bar__plus_01_dot_90 - object\n Tomato_bar__plus_02_dot_84_bar__plus_00_dot_82_bar__plus_04_dot_36 - object\n Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object\n WineBottle_bar__plus_02_dot_63_bar__plus_00_dot_77_bar__plus_03_dot_90 - object\n WineBottle_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_17 - object\n Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle\n Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle\n Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle\n CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle\n CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle\n CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle\n DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle\n Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle\n Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle\n Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle\n Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 - receptacle\n Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle\n GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 - receptacle\n Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 - receptacle\n Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle\n StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle\n StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle\n Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle\n loc_bar_2_bar_6_bar_3_bar_60 - location\n loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location\n loc_bar_10_bar_12_bar_0_bar_45 - location\n loc_bar_0_bar_6_bar_3_bar_45 - location\n loc_bar_2_bar_11_bar_3_bar_30 - location\n loc_bar_7_bar_0_bar_1_bar_45 - location\n loc_bar_6_bar_15_bar_0_bar_0 - location\n loc_bar_8_bar__minus_4_bar_2_bar_0 - location\n loc_bar_0_bar_1_bar_3_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_0_bar_10_bar_3_bar__minus_30 - location\n loc_bar_6_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar__minus_4_bar_2_bar_45 - location\n loc_bar_8_bar__minus_1_bar_0_bar_45 - location\n loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location\n loc_bar_0_bar_5_bar_3_bar__minus_30 - location\n loc_bar_7_bar_3_bar_0_bar_60 - location\n loc_bar_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar_3_bar_0_bar_45 - location\n loc_bar_0_bar__minus_1_bar_3_bar_60 - location\n loc_bar_6_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_2_bar_30 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_2_bar_9_bar_3_bar_30 - location\n loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location\n loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_2_bar_2_bar_3_bar_30 - location\n loc_bar_2_bar_8_bar_3_bar_60 - location\n loc_bar_8_bar_2_bar_1_bar_60 - location\n loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar_0_bar_5_bar_3_bar_45 - location\n loc_bar_0_bar_7_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_4_bar_1_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_30 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_30 - location\n loc_bar_2_bar_4_bar_3_bar_60 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_7_bar__minus_3_bar_1_bar_45 - location\n loc_bar_6_bar_15_bar_0_bar_60 - location\n loc_bar_0_bar_9_bar_3_bar_30 - location\n loc_bar_4_bar_4_bar_1_bar_45 - location\n loc_bar_6_bar_1_bar_1_bar_60 - location\n loc_bar_6_bar__minus_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 CabinetType)\n (receptacleType Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 MicrowaveType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 GarbageCanType)\n (receptacleType CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 CounterTopType)\n (receptacleType Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 DrawerType)\n (receptacleType StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 CabinetType)\n (receptacleType Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 ToasterType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 CabinetType)\n (receptacleType Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 FridgeType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType)\n (receptacleType DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 DiningTableType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 CabinetType)\n (objectType Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 ChairType)\n (objectType Lettuce_bar__minus_01_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_18 LettuceType)\n (objectType Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_03_dot_62 CupType)\n (objectType Tomato_bar__plus_01_dot_85_bar__plus_01_dot_08_bar__plus_01_dot_90 TomatoType)\n (objectType Bowl_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_84 BowlType)\n (objectType Apple_bar__minus_00_dot_91_bar__plus_00_dot_84_bar__minus_00_dot_18 AppleType)\n (objectType Apple_bar__minus_01_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_52 AppleType)\n (objectType Potato_bar__plus_01_dot_67_bar__plus_01_dot_07_bar__plus_01_dot_46 PotatoType)\n (objectType PaperTowelRoll_bar__minus_01_dot_19_bar__plus_01_dot_13_bar__plus_01_dot_24 PaperTowelRollType)\n (objectType Mug_bar__minus_00_dot_91_bar__plus_01_dot_78_bar__plus_02_dot_54 MugType)\n (objectType Spoon_bar__plus_02_dot_27_bar__plus_00_dot_77_bar__plus_03_dot_89 SpoonType)\n (objectType SaltShaker_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_04_dot_19 SaltShakerType)\n (objectType ButterKnife_bar__plus_02_dot_58_bar__plus_00_dot_80_bar__plus_00_dot_78 ButterKnifeType)\n (objectType Ladle_bar__plus_02_dot_60_bar__plus_00_dot_80_bar__plus_04_dot_32 LadleType)\n (objectType Bowl_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_52 BowlType)\n (objectType Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 MugType)\n (objectType SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_75 SaltShakerType)\n (objectType Potato_bar__plus_02_dot_29_bar__plus_00_dot_81_bar__plus_04_dot_09 PotatoType)\n (objectType Egg_bar__minus_01_dot_03_bar__plus_00_dot_83_bar__minus_00_dot_63 EggType)\n (objectType HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 HousePlantType)\n (objectType Bowl_bar__minus_00_dot_86_bar__plus_00_dot_33_bar__minus_00_dot_52 BowlType)\n (objectType SoapBottle_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_03_dot_90 SoapBottleType)\n (objectType LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 LightSwitchType)\n (objectType Knife_bar__plus_01_dot_92_bar__plus_00_dot_83_bar__plus_01_dot_40 KnifeType)\n (objectType WineBottle_bar__plus_02_dot_63_bar__plus_00_dot_77_bar__plus_03_dot_90 WineBottleType)\n (objectType Knife_bar__plus_02_dot_70_bar__plus_00_dot_79_bar__plus_03_dot_69 KnifeType)\n (objectType DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_82_bar__plus_01_dot_18 DishSpongeType)\n (objectType Lettuce_bar__plus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_60 LettuceType)\n (objectType Mug_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_01_dot_34 MugType)\n (objectType Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_02_dot_07 PotatoType)\n (objectType Spatula_bar__plus_01_dot_74_bar__plus_01_dot_04_bar__plus_01_dot_80 SpatulaType)\n (objectType Spoon_bar__minus_01_dot_17_bar__plus_01_dot_03_bar__plus_02_dot_56 SpoonType)\n (objectType Bread_bar__plus_02_dot_60_bar__plus_00_dot_83_bar__plus_03_dot_45 BreadType)\n (objectType Knife_bar__plus_02_dot_01_bar__plus_00_dot_79_bar__plus_03_dot_63 KnifeType)\n (objectType Egg_bar__minus_00_dot_97_bar__plus_01_dot_49_bar__minus_00_dot_18 EggType)\n (objectType PepperShaker_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_51 PepperShakerType)\n (objectType ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_42 ButterKnifeType)\n (objectType SaltShaker_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_00_dot_31 SaltShakerType)\n (objectType StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 StoveKnobType)\n (objectType Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_75 LettuceType)\n (objectType ButterKnife_bar__plus_02_dot_38_bar__plus_00_dot_76_bar__plus_04_dot_50 ButterKnifeType)\n (objectType SoapBottle_bar__plus_02_dot_40_bar__plus_01_dot_03_bar__plus_01_dot_30 SoapBottleType)\n (objectType Egg_bar__minus_00_dot_85_bar__plus_00_dot_86_bar__plus_01_dot_26 EggType)\n (objectType Spatula_bar__plus_03_dot_00_bar__plus_00_dot_78_bar__plus_04_dot_20 SpatulaType)\n (objectType DishSponge_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_00_dot_24 DishSpongeType)\n (objectType Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 PanType)\n (objectType Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 WindowType)\n (objectType Plate_bar__plus_01_dot_67_bar__plus_02_dot_28_bar__minus_01_dot_87 PlateType)\n (objectType Fork_bar__plus_02_dot_09_bar__plus_00_dot_77_bar__plus_03_dot_82 ForkType)\n (objectType StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 StoveKnobType)\n (objectType Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 PotType)\n (objectType Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 SinkType)\n (objectType Bread_bar__plus_02_dot_48_bar__plus_00_dot_83_bar__plus_03_dot_77 BreadType)\n (objectType StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 StoveKnobType)\n (objectType Glassbottle_bar__plus_01_dot_35_bar__plus_01_dot_03_bar__minus_01_dot_99 GlassbottleType)\n (objectType HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 HousePlantType)\n (objectType WineBottle_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_17 WineBottleType)\n (objectType StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 StoveKnobType)\n (objectType Tomato_bar__plus_02_dot_84_bar__plus_00_dot_82_bar__plus_04_dot_36 TomatoType)\n (objectType Fork_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_18 ForkType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType PotType)\n (canContain CabinetType BowlType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType LadleType)\n (canContain CabinetType PlateType)\n (canContain CabinetType MugType)\n (canContain CabinetType PanType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType CupType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType AppleType)\n (canContain MicrowaveType PlateType)\n (canContain MicrowaveType BowlType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType TomatoType)\n (canContain MicrowaveType GlassbottleType)\n (canContain MicrowaveType BreadType)\n (canContain MicrowaveType CupType)\n (canContain MicrowaveType EggType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType PotType)\n (canContain CabinetType BowlType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType LadleType)\n (canContain CabinetType PlateType)\n (canContain CabinetType MugType)\n (canContain CabinetType PanType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType CupType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType PotType)\n (canContain CabinetType BowlType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType LadleType)\n (canContain CabinetType PlateType)\n (canContain CabinetType MugType)\n (canContain CabinetType 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Ladle_bar__plus_02_dot_60_bar__plus_00_dot_80_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Lettuce_bar__plus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_60 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Spatula_bar__plus_03_dot_00_bar__plus_00_dot_78_bar__plus_04_dot_20 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Tomato_bar__plus_02_dot_84_bar__plus_00_dot_82_bar__plus_04_dot_36 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Potato_bar__plus_02_dot_29_bar__plus_00_dot_81_bar__plus_04_dot_09 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_19_bar__plus_01_dot_13_bar__plus_01_dot_24 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle WineBottle_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_17 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Spoon_bar__minus_01_dot_17_bar__plus_01_dot_03_bar__plus_02_dot_56 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_02_dot_07 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle PepperShaker_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_51 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42)\n (inReceptacle ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_42 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42)\n (inReceptacle SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_75 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70)\n (inReceptacle SaltShaker_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_00_dot_31 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27)\n (inReceptacle ButterKnife_bar__plus_02_dot_58_bar__plus_00_dot_80_bar__plus_00_dot_78 Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72)\n (inReceptacle Knife_bar__plus_01_dot_92_bar__plus_00_dot_83_bar__plus_01_dot_40 Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35)\n (inReceptacle Plate_bar__plus_01_dot_67_bar__plus_02_dot_28_bar__minus_01_dot_87 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71)\n (inReceptacle Mug_bar__minus_00_dot_91_bar__plus_01_dot_78_bar__plus_02_dot_54 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61)\n (inReceptacle Bowl_bar__minus_00_dot_86_bar__plus_00_dot_33_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Lettuce_bar__minus_01_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Egg_bar__minus_00_dot_97_bar__plus_01_dot_49_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Apple_bar__minus_00_dot_91_bar__plus_00_dot_84_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Apple_bar__minus_01_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Bowl_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Egg_bar__minus_01_dot_03_bar__plus_00_dot_83_bar__minus_00_dot_63 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Bowl_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_84 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83)\n (inReceptacle Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65)\n (inReceptacle Egg_bar__minus_00_dot_85_bar__plus_00_dot_86_bar__plus_01_dot_26 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_82_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_01_dot_34 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_9_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_7_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 loc_bar_8_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 loc_bar_6_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 loc_bar_6_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 loc_bar_6_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation 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loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation WineBottle_bar__plus_02_dot_63_bar__plus_00_dot_77_bar__plus_03_dot_90 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_02_dot_84_bar__plus_00_dot_82_bar__plus_04_dot_36 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_02_dot_29_bar__plus_00_dot_81_bar__plus_04_dot_09 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_97_bar__plus_01_dot_49_bar__minus_00_dot_18 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_03_dot_90 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_92_bar__plus_00_dot_83_bar__plus_01_dot_40 loc_bar_4_bar_4_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_75 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_75 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_86_bar__plus_00_dot_33_bar__minus_00_dot_52 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_02_dot_01_bar__plus_00_dot_79_bar__plus_03_dot_63 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_03_bar__plus_00_dot_83_bar__minus_00_dot_63 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_02_dot_58_bar__plus_00_dot_80_bar__plus_00_dot_78 loc_bar_8_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_67_bar__plus_01_dot_07_bar__plus_01_dot_46 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 loc_bar_0_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Glassbottle_bar__plus_01_dot_35_bar__plus_01_dot_03_bar__minus_01_dot_99 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Knife_bar__plus_02_dot_70_bar__plus_00_dot_79_bar__plus_03_dot_69 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__plus_02_dot_40_bar__plus_01_dot_03_bar__plus_01_dot_30 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_85_bar__plus_00_dot_86_bar__plus_01_dot_26 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_02_dot_09_bar__plus_00_dot_77_bar__plus_03_dot_82 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_02_dot_07 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Ladle_bar__plus_02_dot_60_bar__plus_00_dot_80_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_85_bar__plus_01_dot_08_bar__plus_01_dot_90 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0)\n (objectAtLocation WineBottle_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_17 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Plate_bar__plus_01_dot_67_bar__plus_02_dot_28_bar__minus_01_dot_87 loc_bar_9_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Spatula_bar__plus_01_dot_74_bar__plus_01_dot_04_bar__plus_01_dot_80 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_19_bar__plus_01_dot_13_bar__plus_01_dot_24 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__plus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_60 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_52 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_00_dot_31 loc_bar_7_bar_0_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_51 loc_bar_2_bar_11_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_42 loc_bar_2_bar_11_bar_3_bar_30)\n (objectAtLocation Bread_bar__plus_02_dot_48_bar__plus_00_dot_83_bar__plus_03_dot_77 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_03_dot_62 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_82_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_52 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 loc_bar_6_bar_15_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_17_bar__plus_01_dot_03_bar__plus_02_dot_56 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_91_bar__plus_01_dot_78_bar__plus_02_dot_54 loc_bar_0_bar_10_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o LadleType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take ladle 1 from diningtable 1", "go to sinkbasin 1", "clean ladle 1 with sinkbasin 1", "go to diningtable 1", "move ladle 1 to diningtable 1"]} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Ladle-None-DiningTable-16/trial_T20190909_183724_205399/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Ladle-None-DiningTable-16/trial_T20190909_183724_205399/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..57d07317eaffd96bb4c8c0429f98636d8fd02875 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Ladle-None-DiningTable-16/trial_T20190909_183724_205399/initial_state.pddl @@ -0,0 +1,1471 @@ + +(define (problem plan_trial_T20190909_183724_205399) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_00_dot_91_bar__plus_00_dot_84_bar__minus_00_dot_18 - object + Apple_bar__minus_01_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_52 - object + Bowl_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_84 - object + Bowl_bar__minus_00_dot_86_bar__plus_00_dot_33_bar__minus_00_dot_52 - object + Bowl_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_52 - object + Bread_bar__plus_02_dot_48_bar__plus_00_dot_83_bar__plus_03_dot_77 - object + Bread_bar__plus_02_dot_60_bar__plus_00_dot_83_bar__plus_03_dot_45 - object + ButterKnife_bar__plus_02_dot_38_bar__plus_00_dot_76_bar__plus_04_dot_50 - object + ButterKnife_bar__plus_02_dot_58_bar__plus_00_dot_80_bar__plus_00_dot_78 - object + ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_42 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_03_dot_62 - object + DishSponge_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_00_dot_24 - object + DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_82_bar__plus_01_dot_18 - object + Egg_bar__minus_00_dot_85_bar__plus_00_dot_86_bar__plus_01_dot_26 - object + Egg_bar__minus_00_dot_97_bar__plus_01_dot_49_bar__minus_00_dot_18 - object + Egg_bar__minus_01_dot_03_bar__plus_00_dot_83_bar__minus_00_dot_63 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_02_dot_09_bar__plus_00_dot_77_bar__plus_03_dot_82 - object + Fork_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_18 - object + Glassbottle_bar__plus_01_dot_35_bar__plus_01_dot_03_bar__minus_01_dot_99 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__plus_01_dot_92_bar__plus_00_dot_83_bar__plus_01_dot_40 - object + Knife_bar__plus_02_dot_01_bar__plus_00_dot_79_bar__plus_03_dot_63 - object + Knife_bar__plus_02_dot_70_bar__plus_00_dot_79_bar__plus_03_dot_69 - object + Ladle_bar__plus_02_dot_60_bar__plus_00_dot_80_bar__plus_04_dot_32 - object + Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_75 - object + Lettuce_bar__plus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_60 - object + Lettuce_bar__minus_01_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_18 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + Mug_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_01_dot_34 - object + Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 - object + Mug_bar__minus_00_dot_91_bar__plus_01_dot_78_bar__plus_02_dot_54 - object + Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 - object + PaperTowelRoll_bar__minus_01_dot_19_bar__plus_01_dot_13_bar__plus_01_dot_24 - object + PepperShaker_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_51 - object + Plate_bar__plus_01_dot_67_bar__plus_02_dot_28_bar__minus_01_dot_87 - object + Potato_bar__plus_01_dot_67_bar__plus_01_dot_07_bar__plus_01_dot_46 - object + Potato_bar__plus_02_dot_29_bar__plus_00_dot_81_bar__plus_04_dot_09 - object + Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_02_dot_07 - object + Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 - object + SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_75 - object + SaltShaker_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_00_dot_31 - object + SaltShaker_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_04_dot_19 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__plus_02_dot_40_bar__plus_01_dot_03_bar__plus_01_dot_30 - object + SoapBottle_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_03_dot_90 - object + Spatula_bar__plus_01_dot_74_bar__plus_01_dot_04_bar__plus_01_dot_80 - object + Spatula_bar__plus_03_dot_00_bar__plus_00_dot_78_bar__plus_04_dot_20 - object + Spoon_bar__plus_02_dot_27_bar__plus_00_dot_77_bar__plus_03_dot_89 - object + Spoon_bar__minus_01_dot_17_bar__plus_01_dot_03_bar__plus_02_dot_56 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + Tomato_bar__plus_01_dot_85_bar__plus_01_dot_08_bar__plus_01_dot_90 - object + Tomato_bar__plus_02_dot_84_bar__plus_00_dot_82_bar__plus_04_dot_36 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__plus_02_dot_63_bar__plus_00_dot_77_bar__plus_03_dot_90 - object + WineBottle_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_17 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle + CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle + CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle + CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle + DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle + Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle + Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle + Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle + Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 - receptacle + 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loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_10_bar_12_bar_0_bar_45 - location + loc_bar_0_bar_6_bar_3_bar_45 - location + loc_bar_2_bar_11_bar_3_bar_30 - location + loc_bar_7_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_0 - location + loc_bar_8_bar__minus_4_bar_2_bar_0 - location + loc_bar_0_bar_1_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar__minus_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar_45 - location + loc_bar_8_bar__minus_1_bar_0_bar_45 - location + loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar__minus_30 - location + loc_bar_7_bar_3_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_3_bar_0_bar_45 - location + loc_bar_0_bar__minus_1_bar_3_bar_60 - location + loc_bar_6_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_2_bar_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar_9_bar_3_bar_30 - location + loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_2_bar_2_bar_3_bar_30 - location + loc_bar_2_bar_8_bar_3_bar_60 - location + loc_bar_8_bar_2_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_30 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_30 - location + loc_bar_2_bar_4_bar_3_bar_60 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_7_bar__minus_3_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_60 - location + loc_bar_0_bar_9_bar_3_bar_30 - location + loc_bar_4_bar_4_bar_1_bar_45 - location + loc_bar_6_bar_1_bar_1_bar_60 - location + loc_bar_6_bar__minus_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 CabinetType) + (receptacleType Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 MicrowaveType) + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 DrawerType) + (receptacleType 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Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 DrawerType) + (receptacleType StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType) + (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType) + (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 CabinetType) + (receptacleType Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 ToasterType) + (receptacleType CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 CoffeeMachineType) + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 CabinetType) + (receptacleType Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 FridgeType) + (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 CabinetType) + (receptacleType Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType) + (receptacleType DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 DiningTableType) + (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 CabinetType) + (receptacleType 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CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_02_dot_07 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle PepperShaker_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_51 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42) + (inReceptacle ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_42 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42) + (inReceptacle SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_75 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70) + (inReceptacle SaltShaker_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_00_dot_31 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27) + (inReceptacle ButterKnife_bar__plus_02_dot_58_bar__plus_00_dot_80_bar__plus_00_dot_78 Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72) + (inReceptacle Knife_bar__plus_01_dot_92_bar__plus_00_dot_83_bar__plus_01_dot_40 Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35) + (inReceptacle Plate_bar__plus_01_dot_67_bar__plus_02_dot_28_bar__minus_01_dot_87 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71) + (inReceptacle Mug_bar__minus_00_dot_91_bar__plus_01_dot_78_bar__plus_02_dot_54 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61) + (inReceptacle Bowl_bar__minus_00_dot_86_bar__plus_00_dot_33_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Lettuce_bar__minus_01_dot_07_bar__plus_00_dot_84_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Egg_bar__minus_00_dot_97_bar__plus_01_dot_49_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle 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Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_82_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Fork_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Mug_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_01_dot_34 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60) + (receptacleAtLocation 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{ + "objectName": "Mug_a04e993b", + "position": { + "x": -0.5775822, + "y": 0.81155616, + "z": 1.33710933 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 209186180, + "scene_num": 16 + }, + "task_id": "trial_T20190909_183724_205399", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_30IQTZXKANNXGTYNRHVUS5K0O5AX0X", + "high_descs": [ + "Begin walking forward, then hang a right and walk over to the round white table in the corner of the room.", + "Pick up the large metal spoon white a black handle off of the round white table.", + "Turn left and begin walking across the room, then turn left again and walk over to the kitchen sink.", + "Wash the large metal spoon in the kitchen sink, then pick it back up.", + "Turn right and begin walking to the wall, then hang a right and walk over to the round white table in the corner of the room.", + "Place the clean large metal spoon on the table to the left of the loaves of bread." + ], + "task_desc": "Put a clean large metal spoon on the round white table.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3E47SOBEYTDKKQ484BODKWZM9SICI6", + "high_descs": [ + "Turn right and walk across the room and take a right past the counter and walk forward and turn to face the kitchen table on the left.", + "Pick up the ladle on the far side of the kitchen table.", + "Turn left and walk forward and to the left to face the sink.", + "Wash the ladle in the sink, then pick it back up.", + "Turn around and walk forward and to the left to face the right side of the kitchen table.", + "Place the ladle back in the spot it was originally in." + ], + "task_desc": "To clean a ladle and put it back on the kitchen table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AUTYWXILTACCR_3YOH7BII0CO7PU0WVV4UN42OMUAVK4", + "high_descs": [ + "Turn right and walk across the kitchen until you get to the round table.", + "Grab the spoon to the left of the tomato.", + "Turn left, then turn right at the counter and walk until you reach the sink.", + "Wash the spoon in the sink.", + "Walk back to the round table.", + "Place the spoon to the left of the first loaf of bread on the table." + ], + "task_desc": "Place a washed spoon on a table.", + "votes": [ + 1, + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-26/trial_T20190907_233056_022802/game.tw-pddl b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-26/trial_T20190907_233056_022802/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5d3a5d6625bfc71afeb427bc9b6f2738c38a39fd --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-26/trial_T20190907_233056_022802/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some mug and put it in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_233056_022802)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27 - object\n Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31 - object\n Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25 - object\n Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 - object\n ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_71 - object\n Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 - object\n Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71 - object\n DishSponge_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 - object\n Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23 - object\n Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object\n Fork_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 - object\n Knife_bar__minus_02_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36 - object\n Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50 - object\n LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object\n Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 - object\n Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50 - object\n Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27 - object\n PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 - object\n Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53 - object\n Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 - object\n Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 - object\n Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24 - object\n Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33 - object\n Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40 - object\n Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 - object\n SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_93 - object\n SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_41 - object\n Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_33 - object\n SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 - object\n Spatula_bar__minus_01_dot_18_bar__plus_00_dot_81_bar__plus_00_dot_28 - object\n Spatula_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_43 - object\n Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_31 - object\n Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_33 - object\n Spoon_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_28 - object\n Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 - object\n Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 - object\n Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30 - object\n Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object\n Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle\n CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle\n CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle\n DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle\n DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle\n Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle\n GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle\n Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle\n Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle\n StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle\n Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle\n loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_4_bar_17_bar_1_bar_60 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar_4_bar_2_bar_45 - location\n loc_bar__minus_3_bar_5_bar_2_bar_30 - location\n loc_bar__minus_3_bar_6_bar_2_bar_45 - location\n loc_bar__minus_8_bar_14_bar_3_bar_45 - location\n loc_bar__minus_10_bar_5_bar_3_bar_0 - location\n loc_bar__minus_3_bar_7_bar_1_bar_15 - location\n loc_bar__minus_7_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_14_bar_1_bar_45 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_3_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_17_bar_1_bar_30 - location\n loc_bar__minus_8_bar_14_bar_3_bar_30 - location\n loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar_17_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_2_bar_45 - location\n loc_bar__minus_3_bar_5_bar_2_bar_45 - location\n loc_bar__minus_4_bar_17_bar_1_bar_45 - location\n loc_bar__minus_5_bar_11_bar_1_bar_60 - location\n loc_bar__minus_8_bar_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_4_bar_11_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 CounterTopType)\n (receptacleType CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTopType)\n (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 GarbageCanType)\n (receptacleType Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType)\n (receptacleType Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 MicrowaveType)\n (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 DiningTableType)\n (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 DiningTableType)\n (receptacleType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 FridgeType)\n (receptacleType Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (objectType Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 BreadType)\n (objectType Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30 TomatoType)\n (objectType PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 PepperShakerType)\n (objectType Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71 CupType)\n (objectType Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33 PotatoType)\n (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 StoveKnobType)\n (objectType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 SinkType)\n (objectType Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 PlateType)\n (objectType Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53 PlateType)\n (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 StoveKnobType)\n (objectType Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_33 SpoonType)\n (objectType Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27 PanType)\n (objectType Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27 AppleType)\n (objectType Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 MugType)\n (objectType Spoon_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_28 SpoonType)\n (objectType Spatula_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_43 SpatulaType)\n (objectType Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 PlateType)\n (objectType DishSponge_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 DishSpongeType)\n (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 StoveKnobType)\n (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 StoveKnobType)\n (objectType Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23 EggType)\n (objectType Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50 LettuceType)\n (objectType SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_93 SaltShakerType)\n (objectType Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40 PotatoType)\n (objectType Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 SpoonType)\n (objectType Fork_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 ForkType)\n (objectType SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 SoapBottleType)\n (objectType Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24 PotatoType)\n (objectType Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 PotType)\n (objectType ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_71 ButterKnifeType)\n (objectType SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_33 SoapBottleType)\n (objectType Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 WindowType)\n (objectType Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_31 SpatulaType)\n (objectType LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 LightSwitchType)\n (objectType Knife_bar__minus_02_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36 KnifeType)\n (objectType Spatula_bar__minus_01_dot_18_bar__plus_00_dot_81_bar__plus_00_dot_28 SpatulaType)\n (objectType SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_41 SaltShakerType)\n (objectType Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 CupType)\n (objectType Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 TomatoType)\n (objectType Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31 AppleType)\n (objectType Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25 BowlType)\n (objectType Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50 MugType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SpatulaType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SpatulaType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType EggType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType PotType)\n (canContain CoffeeMachineType MugType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType AppleType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType EggType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType PotType)\n (canContain CabinetType BowlType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType PlateType)\n (canContain CabinetType MugType)\n (canContain CabinetType PanType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType CupType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType PotType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType PotType)\n (canContain CabinetType BowlType)\n (canContain CabinetType 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(canContain DiningTableType SaltShakerType)\n (canContain DiningTableType PotatoType)\n (canContain DiningTableType SoapBottleType)\n (canContain DiningTableType LettuceType)\n (canContain DiningTableType PotType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType DishSpongeType)\n (canContain DiningTableType SpatulaType)\n (canContain DiningTableType ForkType)\n (canContain DiningTableType BreadType)\n (canContain DiningTableType KnifeType)\n (canContain DiningTableType AppleType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType PanType)\n (canContain DiningTableType ButterKnifeType)\n (canContain DiningTableType PepperShakerType)\n (canContain DiningTableType TomatoType)\n (canContain DiningTableType CupType)\n (canContain DiningTableType EggType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType DishSpongeType)\n 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Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (openable Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39)\n (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (openable Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (openable Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39)\n \n (atLocation agent1 loc_bar__minus_4_bar_11_bar_2_bar_30)\n \n (cleanable Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30)\n (cleanable Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71)\n (cleanable Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33)\n (cleanable Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16)\n (cleanable Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53)\n (cleanable Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_33)\n (cleanable Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27)\n (cleanable Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27)\n (cleanable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71)\n (cleanable Spoon_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_28)\n (cleanable Spatula_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_43)\n (cleanable Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28)\n (cleanable DishSponge_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41)\n (cleanable Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23)\n (cleanable Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50)\n (cleanable Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40)\n (cleanable Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30)\n (cleanable Fork_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60)\n (cleanable Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24)\n (cleanable Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05)\n (cleanable ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_71)\n (cleanable Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_31)\n (cleanable Knife_bar__minus_02_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36)\n (cleanable Spatula_bar__minus_01_dot_18_bar__plus_00_dot_81_bar__plus_00_dot_28)\n (cleanable Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53)\n (cleanable Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45)\n (cleanable Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31)\n (cleanable Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25)\n (cleanable Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50)\n \n (heatable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98)\n (heatable Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30)\n (heatable Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71)\n (heatable Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33)\n (heatable Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16)\n (heatable Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53)\n (heatable Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27)\n (heatable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71)\n (heatable Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28)\n (heatable Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23)\n (heatable Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40)\n (heatable Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24)\n (heatable Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53)\n (heatable Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45)\n (heatable Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31)\n (heatable Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50)\n (coolable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98)\n (coolable Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30)\n (coolable Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71)\n (coolable Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33)\n (coolable Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16)\n (coolable Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53)\n (coolable Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27)\n (coolable Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27)\n (coolable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71)\n (coolable Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28)\n (coolable Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23)\n (coolable Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50)\n (coolable Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40)\n (coolable Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24)\n (coolable Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05)\n (coolable Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53)\n (coolable Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45)\n (coolable Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31)\n (coolable Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25)\n (coolable Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50)\n \n (isCool Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50)\n \n \n \n (sliceable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98)\n (sliceable Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30)\n (sliceable Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33)\n (sliceable Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27)\n (sliceable Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23)\n (sliceable Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50)\n (sliceable Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40)\n (sliceable Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24)\n (sliceable Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45)\n (sliceable Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31)\n \n (inReceptacleObject Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16)\n (inReceptacle Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_25 Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39)\n (inReceptacle Fork_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Spatula_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_41 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_71 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_71 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Apple_bar__minus_02_dot_38_bar__plus_00_dot_96_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle SaltShaker_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_93 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Plate_bar__minus_00_dot_49_bar__plus_00_dot_90_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle PepperShaker_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Cup_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Potato_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27)\n (inReceptacle Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Tomato_bar__minus_02_dot_94_bar__plus_01_dot_00_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle DishSponge_bar__minus_02_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Knife_bar__minus_02_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Tomato_bar__minus_02_dot_82_bar__plus_00_dot_12_bar__plus_00_dot_45 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37)\n (inReceptacle Lettuce_bar__minus_02_dot_85_bar__plus_01_dot_27_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Mug_bar__minus_02_dot_79_bar__plus_00_dot_29_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Plate_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_28 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Egg_bar__minus_01_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_23 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_28 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_01_dot_18_bar__plus_00_dot_81_bar__plus_00_dot_28 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Plate_bar__minus_00_dot_69_bar__plus_01_dot_78_bar__plus_00_dot_16 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_35_bar__plus_01_dot_08_bar__plus_00_dot_27 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\n (inReceptacle Potato_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_00_dot_24 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\n (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_5_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_7_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_8_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 loc_bar__minus_8_bar_14_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 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"x": -0.314754725, + "y": 0.901750147, + "z": 2.32991719 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "Mug_a7306c85", + "position": { + "x": -2.77860022, + "y": 1.00137031, + "z": 3.71400023 + }, + "rotation": { + "x": 0.0, + "y": 89.99991, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9504375a", + "position": { + "x": -1.74649632, + "y": 1.7701875, + "z": 0.2514462 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2136234823, + "scene_num": 26 + }, + "task_id": "trial_T20190907_233056_022802", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_3FDJT1UU77PQR0LHP4MHJ68P9EMK5G", + "high_descs": [ + "Turn around and walk to the end of the white table to your right then turn left and walk to the coffee maker.", + "Get the dirty mug from under the coffee maker's spout.", + "Turn left and walk to the counter then move left until you're facing the spot between the microwave and sink.", + "Wash the mug off in the sink then pick it back up after you shut off the faucet.", + "Walk back to the coffee maker.", + "Put the mug back where you got it from." + ], + "task_desc": "Put a clean mug under the coffee maker.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2ALWT2BUSXD83_3TXMY6UCAH5X1OSRHJTMTYQ801UCQ2", + "high_descs": [ + "Turn around and walk towards the coffee maker.", + "Remove the cup from the coffee maker.", + "Turn to your left and approach the sink.", + "Place the cup in the sink, turn the faucet on and off and remove the cup.", + "Turn around and approach the coffee maker.", + "Place the cup in the coffee maker." + ], + "task_desc": "Place a clean cup in the coffee maker.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3PB5A5BD0YN0CI3HN6GZJYUST4H7GY", + "high_descs": [ + "turn right to the coffee maker", + "pick up the mug", + "turn left to the sink", + "wash the mug in the sink", + "turn around to the coffee maker ", + "drop the mug on the coffee maker" + ], + "task_desc": "drop a clean mug on the coffee maker", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-SoapBar-None-Toilet-428/trial_T20190907_041436_588106/game.tw-pddl b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-SoapBar-None-Toilet-428/trial_T20190907_041436_588106/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..bb94be30116669c346469bf36011881295371461 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-SoapBar-None-Toilet-428/trial_T20190907_041436_588106/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a clean soapbar in toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_041436_588106)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Candle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_68 - object\n Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_82 - object\n Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object\n HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object\n Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object\n Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object\n ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object\n ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object\n ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object\n SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93 - object\n SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 - object\n SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 - object\n SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_20 - object\n SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 - object\n SoapBottle_bar__minus_01_dot_87_bar__plus_00_dot_92_bar__plus_02_dot_37 - object\n SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 - object\n SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 - object\n SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 - object\n ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 - object\n ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_36 - object\n Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle\n CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle\n GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle\n HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle\n Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_3_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar__minus_5_bar_14_bar_3_bar_15 - location\n loc_bar__minus_2_bar_7_bar_2_bar_0 - location\n loc_bar__minus_2_bar_8_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_45 - location\n loc_bar__minus_3_bar_7_bar_2_bar_60 - location\n loc_bar__minus_2_bar_13_bar_3_bar_45 - location\n loc_bar__minus_5_bar_14_bar_3_bar_60 - location\n loc_bar__minus_3_bar_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_14_bar_0_bar_0 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar__minus_2_bar_14_bar_3_bar_45 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar_10_bar_3_bar_60 - location\n loc_bar__minus_2_bar_8_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType)\n (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType)\n (objectType SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 SprayBottleType)\n (objectType SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_20 SoapBottleType)\n (objectType Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51 ClothType)\n (objectType SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93 SoapBarType)\n (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType)\n (objectType SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 SprayBottleType)\n (objectType SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 SprayBottleType)\n (objectType Candle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_68 CandleType)\n (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType)\n (objectType SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 SoapBarType)\n (objectType Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_82 CandleType)\n (objectType SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 SoapBottleType)\n (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType)\n (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType)\n (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_00_dot_92_bar__plus_02_dot_37 SoapBottleType)\n (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType)\n (objectType ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_36 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperType)\n (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType)\n (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType)\n (objectType SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 SoapBarType)\n (canContain TowelHolderType TowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain ToiletType ClothType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType CandleType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (pickupable SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38)\n (pickupable SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_20)\n (pickupable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51)\n (pickupable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93)\n (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (pickupable SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32)\n (pickupable SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36)\n (pickupable Candle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_68)\n (pickupable SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70)\n (pickupable Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_82)\n (pickupable SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07)\n (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36)\n (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_00_dot_92_bar__plus_02_dot_37)\n (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28)\n (pickupable ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_36)\n (pickupable ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26)\n (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96)\n (pickupable SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88)\n \n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15)\n \n (atLocation agent1 loc_bar__minus_2_bar_8_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51)\n (cleanable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93)\n (cleanable SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70)\n (cleanable SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_20 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_00_dot_92_bar__plus_02_dot_37 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (inReceptacle SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (inReceptacle ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_36 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (inReceptacle Candle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_68 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00)\n (inReceptacle SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_82 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40)\n \n \n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_00_dot_92_bar__plus_02_dot_37 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_68 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0)\n (objectAtLocation Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_82 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (objectAtLocation SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_20 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51 loc_bar__minus_2_bar_8_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_36 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 loc_bar__minus_3_bar_7_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o SoapBarType)\n (receptacleType ?r ToiletType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbar 3 from countertop 1", "go to sinkbasin 2", "clean soapbar 3 with sinkbasin 2", "go to toilet 1", "move soapbar 3 to toilet 1"]} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-SoapBar-None-Toilet-428/trial_T20190907_041436_588106/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-SoapBar-None-Toilet-428/trial_T20190907_041436_588106/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e8e4afeb7507363265cb46cf24097df7c82c5808 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-SoapBar-None-Toilet-428/trial_T20190907_041436_588106/initial_state.pddl @@ -0,0 +1,470 @@ + +(define (problem plan_trial_T20190907_041436_588106) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Candle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_68 - object + Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_82 - object + Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object + HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object + Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object + Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object + ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object + ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object + ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object + SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93 - object + SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 - object + SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 - object + SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_20 - object + SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 - object + SoapBottle_bar__minus_01_dot_87_bar__plus_00_dot_92_bar__plus_02_dot_37 - object + SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 - object + SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 - object + SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 - object + ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 - object + ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_36 - object + Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle + CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle + GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle + HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle + Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle + TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle + loc_bar__minus_3_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar__minus_5_bar_14_bar_3_bar_15 - location + loc_bar__minus_2_bar_7_bar_2_bar_0 - location + loc_bar__minus_2_bar_8_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_45 - location + loc_bar__minus_3_bar_7_bar_2_bar_60 - location + loc_bar__minus_2_bar_13_bar_3_bar_45 - location + loc_bar__minus_5_bar_14_bar_3_bar_60 - location + loc_bar__minus_3_bar_7_bar_2_bar_45 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_14_bar_0_bar_0 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar__minus_2_bar_14_bar_3_bar_45 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar__minus_5_bar_10_bar_3_bar_60 - location + loc_bar__minus_2_bar_8_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType) + (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType) + (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType) + (objectType SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 SprayBottleType) + (objectType SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_20 SoapBottleType) + (objectType Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51 ClothType) + (objectType SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93 SoapBarType) + (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType) + (objectType SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 SprayBottleType) + (objectType SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 SprayBottleType) + (objectType Candle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_68 CandleType) + (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType) + (objectType SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 SoapBarType) + (objectType Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_82 CandleType) + (objectType SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 SoapBottleType) + (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType) + (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType) + (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_00_dot_92_bar__plus_02_dot_37 SoapBottleType) + (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType) + (objectType ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_36 ToiletPaperType) + (objectType ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperType) + (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType) + (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType) + (objectType SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 SoapBarType) + (canContain TowelHolderType TowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType CandleType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (pickupable SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38) + (pickupable SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_20) + (pickupable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51) + (pickupable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93) + (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22) + (pickupable SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32) + (pickupable SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36) + (pickupable Candle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_68) + (pickupable SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70) + (pickupable Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_82) + (pickupable SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07) + (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36) + (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_00_dot_92_bar__plus_02_dot_37) + (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28) + (pickupable ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_36) + (pickupable ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26) + (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96) + (pickupable SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88) + + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15) + + (atLocation agent1 loc_bar__minus_2_bar_8_bar_1_bar_30) + + (cleanable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51) + (cleanable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93) + (cleanable SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70) + (cleanable SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_20 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_00_dot_92_bar__plus_02_dot_37 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (inReceptacle SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (inReceptacle ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_36 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (inReceptacle Candle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_68 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00) + (inReceptacle SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_82 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 loc_bar__minus_2_bar_12_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_00_dot_92_bar__plus_02_dot_37 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_68 loc_bar__minus_2_bar_13_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 loc_bar__minus_3_bar_7_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_93 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15) + (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0) + (objectAtLocation Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_82 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0) + (objectAtLocation SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_20 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_02_dot_51 loc_bar__minus_2_bar_8_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_88 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_36 loc_bar__minus_2_bar_12_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 loc_bar__minus_2_bar_12_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 loc_bar__minus_3_bar_7_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o SoapBarType) + (receptacleType ?r ToiletType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_clean_then_place_in_recep-SoapBar-None-Toilet-428/trial_T20190907_041436_588106/traj_data.json 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"pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ACSS93E03ZUGX_33JKGHPFYFBP7DRQEGVJS00FPMYNMV", + "high_descs": [ + "Turn around and move to the right to face the sink.", + "Pick the soap up from off of the sink.", + "Move to the left to face the other sink.", + "Place the soap in to the sink, turn the water on, turn the water off, and pick up the soap.", + "Move to left to face the toilet.", + "Place the soap on top of the toilet." + ], + "task_desc": "Place the wet soap on top of the toilet next to the other soaps.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AOWW3URQNRJ6U_3NC5L260MR31JOZLT8RJCZGBIWJFOP", + "high_descs": [ + "Turn and walk to the sink on the right.", + "Pick up the soap from the sink.", + "Walk to the sink on the left.", + "Place the soap in the sink, turn the water on then off, then grab the soap.", + "Move in between the toilet and the left sink.", + "Place the soap on the back of the toilet." + ], + "task_desc": "Move a rinsed off bar of soap from the sink to the back of the toilet. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3PQ8K71NH01HLTOC8909X3LFWZPAAV", + "high_descs": [ + "Go left, go forward, then turn left to face the rightmost sink.", + "Pick up the bar soap, on the counter, to the right of the sink.", + "Go left, then go forward, then go right to face the leftmost sink.", + "Wash the soap, in the sink.", + "Go to the toilet, next to the sink.", + "Put the bar soap on the back of the toilet, to the left of the hand soap." + ], + "task_desc": "Put a bar of soap on the back of the toilet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-AppleSliced-None-GarbageCan-25/trial_T20190908_193525_796595/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-AppleSliced-None-GarbageCan-25/trial_T20190908_193525_796595/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..264576fd51345e60899484cc74cc56c86434aed9 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-AppleSliced-None-GarbageCan-25/trial_T20190908_193525_796595/initial_state.pddl @@ -0,0 +1,968 @@ + +(define (problem plan_trial_T20190908_193525_796595) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - 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Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (coolable Pan_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28) + (coolable Apple_bar__minus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34) + + + + + + (sliceable Egg_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_54) + (sliceable Egg_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_54) + (sliceable Tomato_bar__minus_02_dot_89_bar__plus_01_dot_19_bar__plus_02_dot_49) + (sliceable Egg_bar__minus_02_dot_78_bar__plus_01_dot_17_bar__plus_01_dot_96) + (sliceable Tomato_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__plus_00_dot_50) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Tomato_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_02_dot_61) + (sliceable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_22) + (sliceable Potato_bar__minus_00_dot_09_bar__plus_00_dot_86_bar__plus_01_dot_33) + (sliceable Potato_bar__minus_02_dot_89_bar__plus_01_dot_48_bar__plus_02_dot_05) + (sliceable Apple_bar__minus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34) + + (inReceptacle Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_93 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25) + (inReceptacle Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68) + (inReceptacle DishSponge_bar__minus_02_dot_84_bar__plus_00_dot_82_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Egg_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_54 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SoapBottle_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Potato_bar__minus_00_dot_09_bar__plus_00_dot_86_bar__plus_01_dot_33 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle PepperShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Fork_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_54 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Pan_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Tomato_bar__minus_00_dot_31_bar__plus_00_dot_87_bar__plus_00_dot_50 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Fork_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_95 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91) + (inReceptacle Spoon_bar__minus_00_dot_92_bar__plus_00_dot_71_bar__plus_00_dot_45 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42) + (inReceptacle DishSponge_bar__minus_01_dot_11_bar__plus_00_dot_70_bar__plus_00_dot_44 Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42) + (inReceptacle Ladle_bar__minus_02_dot_60_bar__plus_00_dot_74_bar__plus_01_dot_51 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (inReceptacle Fork_bar__minus_02_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_55 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (inReceptacle Mug_bar__minus_02_dot_71_bar__plus_01_dot_43_bar__plus_00_dot_17 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_02_dot_60_bar__plus_01_dot_43_bar__plus_00_dot_22 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle SoapBottle_bar__minus_02_dot_38_bar__plus_01_dot_43_bar__plus_00_dot_14 Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23) + (inReceptacle Cup_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_47 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + (inReceptacle Plate_bar__minus_02_dot_00_bar__plus_00_dot_13_bar__plus_00_dot_40 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Plate_bar__minus_01_dot_52_bar__plus_00_dot_13_bar__plus_00_dot_40 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_02_dot_40 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Bowl_bar__minus_02_dot_78_bar__plus_01_dot_14_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Potato_bar__minus_02_dot_89_bar__plus_01_dot_48_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Mug_bar__minus_02_dot_67_bar__plus_00_dot_82_bar__plus_02_dot_31 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Cup_bar__minus_02_dot_73_bar__plus_01_dot_14_bar__plus_02_dot_49 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Tomato_bar__minus_02_dot_89_bar__plus_01_dot_19_bar__plus_02_dot_49 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Egg_bar__minus_02_dot_78_bar__plus_01_dot_17_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Bowl_bar__minus_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_28 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Tomato_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_02_dot_61 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Egg_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_54 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Apple_bar__minus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 loc_bar__minus_4_bar_4_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 loc_bar__minus_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_5_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_4_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_6_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 loc_bar__minus_7_bar_9_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 loc_bar__minus_7_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 loc_bar__minus_8_bar_4_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 loc_bar__minus_6_bar_4_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 loc_bar__minus_8_bar_4_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 loc_bar__minus_8_bar_5_bar_3_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 loc_bar__minus_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 loc_bar__minus_5_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_5_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 loc_bar__minus_7_bar_7_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 loc_bar__minus_4_bar_10_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 loc_bar__minus_8_bar_5_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_60) + (receptacleAtLocation Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 loc_bar__minus_4_bar_4_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_78_bar__plus_01_dot_14_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_67_bar__plus_00_dot_82_bar__plus_02_dot_31 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_11_bar__plus_00_dot_70_bar__plus_00_dot_44 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation 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Fork_bar__minus_02_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_55 loc_bar__minus_7_bar_7_bar_3_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_bar__plus_02_dot_05 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_89_bar__plus_01_dot_19_bar__plus_02_dot_49 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_02_dot_73_bar__plus_01_dot_14_bar__plus_02_dot_49 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Egg_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_54 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_95 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 loc_bar__minus_7_bar_4_bar_2_bar_60) + (objectAtLocation 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loc_bar__minus_7_bar_4_bar_2_bar_15) + (objectAtLocation Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 loc_bar__minus_5_bar_4_bar_1_bar_45) + (objectAtLocation Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_02_dot_78_bar__plus_01_dot_17_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_02_dot_40 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation PepperShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation 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"pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1S1K7134S2VUC_37W3JXSD69ZN9DBGLSZYJ0KFLF4WYK", + "high_descs": [ + "Turn right, move to the counter in front of the dishwasher.", + "Pick up the knife from the counter.", + "Turn left, move to in front of the sink.", + "Section the apple in the sink.", + "Turn right, move to in front of the refrigerator.", + "Put the knife in the refrigerator.", + "Turn left, move to in front of the sink.", + "Pick up a section of apple from the sink.", + "Turn right, move to in front of the refrigerator.", + "Put the apple section in the refrigerator, chill it, pick it back up.", + "Turn right, move to the bin that is left of the stove.", + "Put the apple section in the bin." + ], + "task_desc": "Place a chilled apple section into the bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3IX2EGZR7EAS6SZV0YOPMEXAGV8RJ8", + "high_descs": [ + "Turn right then head to the counter beside the microwave", + "Pick up the knife on the counter", + "Turn left then head to the sink", + "Slice the apple in the sink", + "Turn right then head to the fridge", + "Open the fridge put in the knife then close the fridge", + "Turn left head to the sink ", + "Pick up a slice of apple ", + "Turn right and head to the fridge", + "Open the fridge put in and out the slice apple ", + "Turn right walk forward to the trash bin", + "Put the slice apple in the trash bin" + ], + "task_desc": "Put the chilled slice apple in the trash bin", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AO33H4GL9KZX9_3L0KT67Y8H7U2WU71NPXMBHUF1FSY6", + "high_descs": [ + "Turn around and go to the counter with a microwave on top. ", + "Pick up the yellow knife on the counter between the metal bowl and the gray knife.", + "Turn left and go to the front of the sink. ", + "Cut the apple inside the sink into three parts. ", + "Turn around to go to the front of the refrigerator. ", + "Place the knife inside the refrigerator on the left of the mug. ", + "Turn left to go back to the sink.", + "Take out one piece of apple from the sink. ", + "Turn around and go back to the front of the refrigerator. ", + "Remove the apple after cooling it on the top shelf in the refrigerator.", + "Turn around to go to the green trash can on the floor on the left of the stove.", + "Place the apple inside the trash can." + ], + "task_desc": "Throw out a chilled piece of apple. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Bowl-None-Cabinet-20/trial_T20190909_112912_154874/game.tw-pddl b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Bowl-None-Cabinet-20/trial_T20190909_112912_154874/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9f24f8dbd74b6f10db0fc8a7b24ff0520db43ed1 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Bowl-None-Cabinet-20/trial_T20190909_112912_154874/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a cool bowl in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_112912_154874)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_01_dot_44_bar__plus_01_dot_25_bar__minus_00_dot_60 - object\n Bowl_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76 - object\n Bread_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_53 - object\n 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- object\n Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_02_dot_00 - object\n Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73 - object\n Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85 - object\n Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 - object\n Pot_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_81 - object\n SaltShaker_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_01_dot_45 - object\n Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object\n SoapBottle_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_31 - object\n SoapBottle_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_09 - object\n SoapBottle_bar__minus_01_dot_28_bar__plus_02_dot_15_bar__minus_01_dot_35 - object\n Spatula_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_74 - object\n Spoon_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__minus_02_dot_03 - object\n 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Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle\n Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle\n Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 - receptacle\n CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 - receptacle\n 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loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location\n loc_bar_6_bar_4_bar_1_bar_15 - location\n loc_bar_4_bar__minus_2_bar_1_bar_30 - location\n loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_1_bar_1_bar_30 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_4_bar_3_bar_60 - location\n loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location\n loc_bar_5_bar_5_bar_0_bar_45 - location\n loc_bar_2_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location\n loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_4_bar__minus_3_bar_1_bar_30 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 CabinetType)\n (receptacleType DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 DiningTableType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 MicrowaveType)\n (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 ShelfType)\n (receptacleType Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 ShelfType)\n (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 StoveBurnerType)\n (receptacleType 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Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_02_dot_00)\n (coolable Bread_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_53)\n (coolable Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76)\n (coolable Apple_bar__minus_01_dot_44_bar__plus_01_dot_25_bar__minus_00_dot_60)\n (coolable Pot_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_81)\n (coolable Plate_bar__plus_01_dot_67_bar__plus_00_dot_56_bar__plus_02_dot_48)\n (coolable Tomato_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_68)\n (coolable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85)\n (coolable Egg_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_08)\n (coolable Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_01_dot_01)\n (coolable Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_01_dot_45)\n (coolable WineBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_15)\n (coolable Mug_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_43)\n (coolable Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31)\n (coolable WineBottle_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_21)\n (coolable Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73)\n (coolable Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36)\n (coolable Cup_bar__plus_01_dot_88_bar__plus_00_dot_55_bar__plus_02_dot_53)\n (coolable Egg_bar__plus_01_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_28)\n (coolable Cup_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_03)\n (coolable Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91)\n (coolable Bowl_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76)\n (coolable Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93)\n (coolable Cup_bar__plus_01_dot_67_bar__plus_00_dot_88_bar__plus_02_dot_48)\n \n \n \n \n \n (sliceable Bread_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_53)\n (sliceable Apple_bar__minus_01_dot_44_bar__plus_01_dot_25_bar__minus_00_dot_60)\n (sliceable Tomato_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_68)\n (sliceable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85)\n (sliceable Egg_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_08)\n (sliceable Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_01_dot_01)\n (sliceable Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_01_dot_45)\n (sliceable Egg_bar__plus_01_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_28)\n (sliceable Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91)\n \n (inReceptacle Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36)\n (inReceptacle Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76)\n (inReceptacle Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98)\n (inReceptacle SoapBottle_bar__minus_01_dot_28_bar__plus_02_dot_15_bar__minus_01_dot_35 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83)\n (inReceptacle SoapBottle_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_09 Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00)\n (inReceptacle Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76)\n (inReceptacle SaltShaker_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle SoapBottle_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Ladle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Bread_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Egg_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle DishSponge_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Fork_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Bowl_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle ButterKnife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68)\n (inReceptacle Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_02_dot_00 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle WineBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_15 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Tomato_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_68 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Spatula_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_74 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle WineBottle_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_21 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Knife_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_74 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Fork_bar__minus_00_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_10 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00)\n (inReceptacle Egg_bar__plus_01_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_28 GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13)\n (inReceptacle Cup_bar__plus_01_dot_67_bar__plus_00_dot_88_bar__plus_02_dot_48 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48)\n (inReceptacle Cup_bar__plus_01_dot_88_bar__plus_00_dot_55_bar__plus_02_dot_53 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48)\n (inReceptacle Plate_bar__plus_01_dot_67_bar__plus_00_dot_56_bar__plus_02_dot_48 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48)\n (inReceptacle Mug_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_43 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48)\n (inReceptacle PepperShaker_bar__plus_01_dot_46_bar__plus_00_dot_55_bar__plus_02_dot_64 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48)\n (inReceptacle Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85 Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68)\n (inReceptacle Pot_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_81 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Apple_bar__minus_01_dot_44_bar__plus_01_dot_25_bar__minus_00_dot_60 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_01_dot_01 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70)\n (inReceptacle Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11)\n (inReceptacle Spoon_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__minus_02_dot_03 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_03 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_00_dot_21_bar__plus_00_dot_77_bar__minus_02_dot_03 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_03 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 loc_bar_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 loc_bar_5_bar_1_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_5_bar_3_bar_30)\n (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 loc_bar_4_bar_6_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 loc_bar_5_bar_5_bar_0_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 loc_bar_6_bar_8_bar_0_bar_60)\n (receptacleAtLocation Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_43 loc_bar_5_bar_5_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_21_bar__plus_00_dot_77_bar__minus_02_dot_03 loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_28 loc_bar_5_bar_1_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_99 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_88_bar__plus_00_dot_55_bar__plus_02_dot_53 loc_bar_5_bar_5_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation WineBottle_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_21 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_53 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_08 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_31 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_28_bar__plus_02_dot_15_bar__minus_01_dot_35 loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30)\n (objectAtLocation Plate_bar__plus_01_dot_67_bar__plus_00_dot_56_bar__plus_02_dot_48 loc_bar_5_bar_5_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_67_bar__plus_00_dot_88_bar__plus_02_dot_48 loc_bar_6_bar_8_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_01_dot_01 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_10 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_44_bar__plus_01_dot_25_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85 loc_bar__minus_1_bar__minus_5_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_09 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Fork_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_99 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 loc_bar_1_bar_9_bar_0_bar_30)\n (objectAtLocation Ladle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_01_dot_22 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_01_dot_45 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 loc_bar_6_bar_4_bar_1_bar_15)\n (objectAtLocation WineBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_15 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_74 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_02_dot_00 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_01_dot_45 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_81 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_03 loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_46_bar__plus_00_dot_55_bar__plus_02_dot_64 loc_bar_5_bar_5_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_03 loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 loc_bar_4_bar__minus_2_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 loc_bar_4_bar__minus_1_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 loc_bar_4_bar__minus_3_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar_30)\n (objectAtLocation Tomato_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_68 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 loc_bar__minus_4_bar_5_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_99 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_08 loc_bar__minus_4_bar_3_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__minus_02_dot_03 loc_bar__minus_1_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_74 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o BowlType)\n (receptacleType ?r CabinetType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take bowl 1 from diningtable 1", "go to fridge 1", "cool bowl 1 with fridge 1", "go to cabinet 13", "move bowl 1 to cabinet 13"]} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Bowl-None-Cabinet-20/trial_T20190909_112912_154874/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Bowl-None-Cabinet-20/trial_T20190909_112912_154874/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f80a492c14d60452aef65d03cee44949d01f470d --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Bowl-None-Cabinet-20/trial_T20190909_112912_154874/initial_state.pddl @@ -0,0 +1,986 @@ + +(define (problem plan_trial_T20190909_112912_154874) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_01_dot_44_bar__plus_01_dot_25_bar__minus_00_dot_60 - object + Bowl_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + Bread_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_53 - object + Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91 - object + ButterKnife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + ButterKnife_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_03 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__plus_01_dot_67_bar__plus_00_dot_88_bar__plus_02_dot_48 - object + Cup_bar__plus_01_dot_88_bar__plus_00_dot_55_bar__plus_02_dot_53 - object + Cup_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_03 - object + DishSponge_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + Egg_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_08 - object + Egg_bar__plus_01_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_28 - object + Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_01_dot_01 - object + Faucet_bar__minus_00_dot_14_bar__plus_01_dot_03_bar__minus_02_dot_22 - object + Fork_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_08 - object + Fork_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + Fork_bar__minus_00_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_10 - object + Knife_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_74 - object + Ladle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_01_dot_22 - object + Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_01_dot_45 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_43 - object + Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 - object + Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + PepperShaker_bar__plus_01_dot_46_bar__plus_00_dot_55_bar__plus_02_dot_64 - object + Plate_bar__plus_01_dot_67_bar__plus_00_dot_56_bar__plus_02_dot_48 - object + Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_02_dot_00 - object + Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73 - object + Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85 - object + Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 - object + Pot_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_81 - object + SaltShaker_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_01_dot_45 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + SoapBottle_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_09 - object + SoapBottle_bar__minus_01_dot_28_bar__plus_02_dot_15_bar__minus_01_dot_35 - object + Spatula_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_74 - object + Spoon_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__minus_02_dot_03 - object + Spoon_bar__minus_00_dot_21_bar__plus_00_dot_77_bar__minus_02_dot_03 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 - object + Tomato_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_68 - object + Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 - object + WineBottle_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_21 - object + WineBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_15 - object + Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle + Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 - receptacle + CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 - receptacle + CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 - receptacle + DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 - receptacle + Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 - receptacle + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 - receptacle + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_9_bar_0_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_1_bar_45 - location + loc_bar__minus_4_bar_5_bar_1_bar_60 - location + loc_bar_6_bar_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_1_bar_1_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar_6_bar_4_bar_1_bar_15 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_5_bar_5_bar_0_bar_45 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 CabinetType) + (receptacleType DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 DiningTableType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType) + (receptacleType Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 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(openable Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69) + (openable Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69) + (openable Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00) + (openable Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03) + (openable Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + + (atLocation agent1 loc_bar__minus_3_bar__minus_2_bar_1_bar_30) + + (cleanable Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_02_dot_00) + (cleanable ButterKnife_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_03) + (cleanable Fork_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_99) + (cleanable Spatula_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_74) + (cleanable Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76) + (cleanable Apple_bar__minus_01_dot_44_bar__plus_01_dot_25_bar__minus_00_dot_60) + (cleanable Fork_bar__minus_00_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_10) + (cleanable Pot_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_81) + (cleanable Plate_bar__plus_01_dot_67_bar__plus_00_dot_56_bar__plus_02_dot_48) + (cleanable Tomato_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_68) + (cleanable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85) + (cleanable Egg_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_08) + (cleanable Spoon_bar__minus_00_dot_21_bar__plus_00_dot_77_bar__minus_02_dot_03) + (cleanable Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_01_dot_01) + (cleanable Spoon_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__minus_02_dot_03) + (cleanable Ladle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_01_dot_22) + (cleanable Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_01_dot_45) + (cleanable Mug_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_43) + (cleanable Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31) + (cleanable Fork_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_08) + (cleanable Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73) + (cleanable Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36) + (cleanable ButterKnife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_99) + (cleanable DishSponge_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_99) + (cleanable Knife_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_74) + (cleanable Cup_bar__plus_01_dot_88_bar__plus_00_dot_55_bar__plus_02_dot_53) + (cleanable Egg_bar__plus_01_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_28) + (cleanable Cup_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_03) + (cleanable Bowl_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76) + (cleanable Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93) + (cleanable Cup_bar__plus_01_dot_67_bar__plus_00_dot_88_bar__plus_02_dot_48) + + (heatable Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_02_dot_00) + (heatable Bread_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_53) + (heatable Apple_bar__minus_01_dot_44_bar__plus_01_dot_25_bar__minus_00_dot_60) + (heatable Plate_bar__plus_01_dot_67_bar__plus_00_dot_56_bar__plus_02_dot_48) + (heatable Tomato_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_68) + (heatable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85) + (heatable Egg_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_08) + (heatable Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_01_dot_01) + (heatable Mug_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_43) + (heatable Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73) + (heatable Cup_bar__plus_01_dot_88_bar__plus_00_dot_55_bar__plus_02_dot_53) + (heatable Egg_bar__plus_01_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_28) + (heatable Cup_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_03) + (heatable Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91) + (heatable Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93) + (heatable Cup_bar__plus_01_dot_67_bar__plus_00_dot_88_bar__plus_02_dot_48) + (coolable Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_02_dot_00) + (coolable Bread_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_53) + (coolable Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76) + (coolable Apple_bar__minus_01_dot_44_bar__plus_01_dot_25_bar__minus_00_dot_60) + (coolable Pot_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_81) + (coolable Plate_bar__plus_01_dot_67_bar__plus_00_dot_56_bar__plus_02_dot_48) + (coolable Tomato_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_68) + (coolable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85) + (coolable Egg_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_08) + (coolable Egg_bar__minus_01_dot_53_bar__plus_01_dot_56_bar__minus_01_dot_01) + (coolable Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_01_dot_45) + (coolable WineBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_15) + (coolable Mug_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_43) + (coolable Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31) + (coolable WineBottle_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_21) + (coolable Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73) + (coolable Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36) + (coolable Cup_bar__plus_01_dot_88_bar__plus_00_dot_55_bar__plus_02_dot_53) + (coolable Egg_bar__plus_01_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_28) + (coolable 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Egg_bar__plus_01_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_28) + (sliceable Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91) + + (inReceptacle Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36) + (inReceptacle Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76) + (inReceptacle Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_73 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (inReceptacle SoapBottle_bar__minus_01_dot_28_bar__plus_02_dot_15_bar__minus_01_dot_35 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83) + (inReceptacle SoapBottle_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_09 Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76) + (inReceptacle SaltShaker_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle SoapBottle_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bread_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Egg_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle DishSponge_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Fork_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bowl_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle ButterKnife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle 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1840051468, + "scene_num": 20 + }, + "task_id": "trial_T20190909_112912_154874", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A20FCMWP43CVIU_3IJXV6UZ10AWBHFPIG3PADIA3RZRIY", + "high_descs": [ + "walk to face kitchen island", + "pick up bowl from island", + "walk to face fridge", + "chill and remove bowl from fridge", + "walk to face cabinets under sink", + "put bowl in cabinet" + ], + "task_desc": "put chilled bowl in cabinet", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3VHP9MDGRQB8VOOGZB79IL6WNY6CFO", + "high_descs": [ + "go to the island", + "take the bowl from the counter", + "take the bowl to the fridge", + "put the bowl in the fridge then remove", + "take the bowl near the sink", + "put the bowl in the bottom cabinet to the right of the sink" + ], + "task_desc": "take a bowl from the counter to the cabinet", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A10AVWALIHR4UQ_351SEKWQS38O6QMBLU6XXH8N5ZXDMZ", + "high_descs": [ + "Turn left, move towards the white door, then turn right and face the center of the gray table.", + "Pick up the glass bowl between the knife and the loaf of bread from the table.", + "Turn right, move towards the white dishwasher, then turn right and face the refrigerator.", + "Open the refrigerator, place the bowl on the bottom shelf to the right of the pan, close the refrigerator to allow the bowl to chill, then open the refrigerator and pick up the bowl from the bottom shelf.", + "Turn around, move towards the white range, then turn right and move to the sink to the right of the dishwasher.", + "Open the bottom cabinet door to the right of the sink, place the bowl in the cabinet, then close the cabinet door." + ], + "task_desc": "Place a chilled glass bowl in the cabinet.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-SideTable-21/trial_T20190906_192823_237997/game.tw-pddl b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-SideTable-21/trial_T20190906_192823_237997/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..6b05ebc26b7fe042774f1c0b3f8d7cd385086bce --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-SideTable-21/trial_T20190906_192823_237997/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a cool cup in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_192823_237997)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__plus_00_dot_72_bar__plus_00_dot_72_bar__plus_00_dot_63 - object\n Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object\n Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_15 - object\n 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Egg_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 - object\n Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_10 - object\n Egg_bar__minus_00_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_27 - object\n Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object\n Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_00 - object\n Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_33 - object\n Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__plus_00_dot_00 - object\n Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_01_dot_10 - object\n Lettuce_bar__plus_00_dot_75_bar__plus_00_dot_75_bar__minus_01_dot_88 - object\n LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object\n Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object\n Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 - object\n Mug_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_19 - 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CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle\n CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle\n DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle\n DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle\n DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle\n Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle\n GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle\n Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle\n SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle\n 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loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location\n loc_bar_1_bar_0_bar_1_bar_45 - location\n loc_bar_2_bar__minus_13_bar_1_bar_30 - location\n loc_bar_0_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar_1_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location\n loc_bar__minus_8_bar__minus_10_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType)\n (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType)\n (objectType Egg_bar__minus_00_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_27 EggType)\n (objectType Spatula_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_02 SpatulaType)\n (objectType Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 PotType)\n (objectType Potato_bar__plus_00_dot_80_bar__plus_00_dot_81_bar__minus_00_dot_85 PotatoType)\n (objectType SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_01_bar__minus_00_dot_51 SaltShakerType)\n (objectType Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 MugType)\n (objectType Cup_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_25 CupType)\n (objectType PepperShaker_bar__minus_01_dot_56_bar__plus_00_dot_69_bar__minus_03_dot_36 PepperShakerType)\n (objectType 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Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Cup_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_25 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_01_bar__minus_00_dot_51 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle Spoon_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_57 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Apple_bar__plus_00_dot_72_bar__plus_00_dot_72_bar__plus_00_dot_63 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle DishSponge_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_45 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle PepperShaker_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_63 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_15 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40)\n (inReceptacle Egg_bar__minus_00_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_27 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Spatula_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Cup_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Cup_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Egg_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Spoon_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_27 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle DishSponge_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Mug_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle PepperShaker_bar__minus_01_dot_56_bar__plus_00_dot_69_bar__minus_03_dot_36 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26)\n (inReceptacle SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_05_bar__minus_03_dot_61 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Tomato_bar__plus_00_dot_75_bar__plus_00_dot_51_bar__minus_01_dot_88 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Lettuce_bar__plus_00_dot_75_bar__plus_00_dot_75_bar__minus_01_dot_88 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Tomato_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_63 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle Potato_bar__plus_00_dot_80_bar__plus_00_dot_81_bar__minus_00_dot_85 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin loc_bar_1_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (receptacleAtLocation Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 loc_bar__minus_2_bar_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_57 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_75_bar__plus_00_dot_51_bar__minus_01_dot_88 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_75_bar__plus_00_dot_75_bar__minus_01_dot_88 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_74 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_25 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_57_bar__plus_00_dot_78_bar__minus_00_dot_12 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_05_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_72_bar__plus_00_dot_72_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Egg_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_80_bar__plus_00_dot_81_bar__minus_00_dot_85 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_76 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_01_bar__minus_00_dot_51 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_56_bar__plus_00_dot_69_bar__minus_03_dot_36 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_63 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 loc_bar_0_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_15 loc_bar_1_bar_0_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o CupType)\n (receptacleType ?r SideTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 3", "take cup 4 from diningtable 3", "go to fridge 1", "cool cup 4 with fridge 1", "go to sidetable 1", "move cup 4 to sidetable 1"]} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-SideTable-21/trial_T20190906_192823_237997/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-SideTable-21/trial_T20190906_192823_237997/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e0c184b1fc7feb00359bbcc13c93c87409673304 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-Cup-None-SideTable-21/trial_T20190906_192823_237997/initial_state.pddl @@ -0,0 +1,845 @@ + +(define (problem plan_trial_T20190906_192823_237997) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + 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StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_1_bar_0 - location + loc_bar__minus_7_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location + loc_bar_1_bar_1_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar_0_bar_0_bar_60 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location + loc_bar_1_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_6_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location + loc_bar_1_bar_0_bar_1_bar_45 - location + loc_bar_2_bar__minus_13_bar_1_bar_30 - location + loc_bar_0_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar_1_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location + loc_bar__minus_8_bar__minus_10_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType) + (receptacleType 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MicrowaveType) + (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType) + (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType) + (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType) + (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType) + (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType) + (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType) + (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType) + (objectType 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"position": { + "x": 0.698199749, + "y": 0.941000044, + "z": -1.36019969 + }, + "rotation": { + "x": 0.0, + "y": 270.000122, + "z": 0.0 + } + }, + { + "objectName": "Pot_cde1951c", + "position": { + "x": -1.552, + "y": 0.9306, + "z": 0.785 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_2b33f66e", + "position": { + "x": -2.02399945, + "y": 0.69248, + "z": -1.44700074 + }, + "rotation": { + "x": -1.62284123e-05, + "y": -0.000303944078, + "z": -1.66631326e-05 + } + }, + { + "objectName": "Fork_34f12e87", + "position": { + "x": 0.781749845, + "y": 0.665148556, + "z": 0.326432049 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_d7803c74", + "position": { + "x": -1.18791234, + "y": 0.0515287854, + "z": -3.611 + }, + "rotation": { + "x": 0.0, + "y": 269.999878, + "z": 0.0 + } + }, + { + "objectName": "Apple_093f2b24", + "position": { + "x": 0.721681535, + "y": 0.7188863, + "z": 0.6306019 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_63693e0a", + "position": { + "x": -2.097, + "y": 0.9306, + "z": 1.049 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_c79ff911", + "position": { + "x": -0.252731264, + "y": 0.937226, + "z": 1.10124564 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Spatula_8142ce7b", + "position": { + "x": 0.574625134, + "y": 0.7755549, + "z": -0.1249657 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_027e0a30", + "position": { + "x": 0.7994509, + "y": 0.805609345, + "z": -0.8457127 + }, + "rotation": { + "x": 7.58303337e-22, + "y": 270.0, + "z": -1.40334191e-14 + } + }, + { + "objectName": "Cup_cb0de209", + "position": { + "x": 0.877196848, + "y": 0.8822297, + "z": -0.245861 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_886fcaf3", + "position": { + "x": 0.8983273, + "y": 0.0120247006, + "z": -0.5065526 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_87875872", + "position": { + "x": 0.601545, + "y": 0.6617025, + "z": 0.6306019 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_0ad5c562", + "position": { + "x": 0.754, + "y": 0.7553387, + "z": -0.743 + }, + "rotation": { + "x": 0.0, + "y": 44.9999161, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_11e4138d", + "position": { + "x": 0.9619548, + "y": 0.664960563, + "z": 0.4481 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_42314d78", + "position": { + "x": -0.8739218, + "y": 0.931037068, + "z": 0.978991 + }, + "rotation": { + "x": 0.02981035, + "y": 24.2316437, + "z": 359.895 + } + }, + { + "objectName": "Lettuce_0ad3089c", + "position": { + "x": 0.7468747, + "y": 0.7519335, + "z": -1.880375 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Tomato_5a2cfc73", + "position": { + "x": 0.7468747, + "y": 0.5143165, + "z": -1.880375 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Spoon_93a81026", + "position": { + "x": 0.781749845, + "y": 0.6665257, + "z": 0.5697679 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_33d4fba0", + "position": { + "x": 0.8176422, + "y": 0.7829485, + "z": 0.00290554762 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_288ff1e3", + "position": { + "x": -1.05636024, + "y": 0.895620763, + "z": 1.18701911 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Bowl_737b77b7", + "position": { + "x": -2.03849554, + "y": 0.6917894, + "z": -1.00353038 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1636941506, + "scene_num": 21 + }, + "task_id": "trial_T20190906_192823_237997", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A10AVWALIHR4UQ_3137ONMDKJMLLXIRAEU5P8M9EKUEGL", + "high_descs": [ + "Turn left and move towards the refrigerator, then turn left and move to the table with the toaster on top.", + "Pick up the cup between the knife and the egg from the rear of the table.", + "Turn around and move to the refrigerator and then turn around to face the door of the refrigerator.", + "Open the refrigerator, place the cup on the top shelf to the left of the lettuce, chill the cup, open the refrigerator, pick up the cup from the top shelf, then close the refrigerator.", + "Turn to the right, move past the sink to the table next to the oven, then turn towards the small table in between the garbage bag and the counter.", + "Place the cup on the front center of the table; to the right of the salt shaker and in front of the cup." + ], + "task_desc": "Place a chilled cup on the table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3SPJ033424KTI4PJILR2TO65ONJYJP", + "high_descs": [ + "Turn left, go to the refrigerator, turn left, go to the white table with the toaster on it.", + "Take the cup on the table closest to the wall.", + "Turn around, go to the refrigerator.", + "Put the cup to the right of the lettuce in the refrigerator. Close then open the refrigerator. Take the cup from the refrigerator.", + "Turn left, go to the black stand next to the end of the sink counter and a black trash bag.", + "Put the cup in front of and to the left of the cup on the stand." + ], + "task_desc": "Put a cold cup on a stand.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AHBWX3WYMAB0E_3ZSY5X72N0SYME4UK3RDTOUUKVGOR0", + "high_descs": [ + "Turn right and move across the room to the white table on the right.", + "Pick up the gray vase at the back of the table, closest to the wall.", + "Turn around and move to the refrigerator on the left.", + "Open the fridge and place the vase on the top shelf. close the door, wait a moment, and take the vase out of the fridge", + "Turn left and move across the room to the black three tiered table on the right.", + "Put the vase on the top shelf of the table in front and slightly left of the other vase." + ], + "task_desc": "Put a chilled vase on the three tiered black table.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-LettuceSliced-None-SinkBasin-15/trial_T20190909_101835_683416/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-LettuceSliced-None-SinkBasin-15/trial_T20190909_101835_683416/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2ce672bbcc16174aa2d5b7eb0bf2e687278bd647 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-LettuceSliced-None-SinkBasin-15/trial_T20190909_101835_683416/initial_state.pddl @@ -0,0 +1,1004 @@ + +(define (problem plan_trial_T20190909_101835_683416) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_03_dot_47_bar__plus_01_dot_61_bar__plus_02_dot_02 - object + Apple_bar__minus_03_dot_65_bar__plus_00_dot_98_bar__plus_01_dot_19 - object + Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 - object + Bowl_bar__minus_03_dot_20_bar__plus_00_dot_08_bar__plus_02_dot_92 - object + Bread_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_00_dot_26 - object + Bread_bar__minus_01_dot_26_bar__plus_00_dot_97_bar__minus_00_dot_05 - object + ButterKnife_bar__minus_02_dot_40_bar__plus_00_dot_92_bar__plus_03_dot_89 - object + Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 - object + Cup_bar__minus_01_dot_71_bar__plus_00_dot_92_bar__plus_04_dot_15 - object + Cup_bar__minus_02_dot_02_bar__plus_00_dot_92_bar__plus_04_dot_19 - object + DishSponge_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__minus_00_dot_05 - object + DishSponge_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_44 - object + Egg_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_03_dot_69 - object + Egg_bar__minus_01_dot_26_bar__plus_00_dot_12_bar__plus_03_dot_79 - object + Egg_bar__minus_03_dot_65_bar__plus_00_dot_95_bar__plus_01_dot_36 - object + Faucet_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__plus_03_dot_93 - object + Fork_bar__minus_02_dot_50_bar__plus_00_dot_92_bar__plus_04_dot_11 - object + Fork_bar__minus_03_dot_21_bar__plus_00_dot_75_bar__plus_01_dot_36 - object + Fork_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_02_dot_84 - object + Kettle_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_52 - object + Kettle_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 - object + Kettle_bar__minus_03_dot_51_bar__plus_01_dot_46_bar__plus_02_dot_85 - object + Knife_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_36 - object + Knife_bar__minus_03_dot_19_bar__plus_00_dot_77_bar__plus_01_dot_51 - object + Knife_bar__minus_03_dot_46_bar__plus_00_dot_94_bar__plus_01_dot_19 - object + Lettuce_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__plus_00_dot_09 - object + LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 - object + Mug_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__plus_00_dot_46 - object + Mug_bar__minus_03_dot_51_bar__plus_01_dot_54_bar__plus_02_dot_22 - object + Pan_bar__minus_03_dot_14_bar__plus_00_dot_97_bar__plus_01_dot_97 - object + PepperShaker_bar__minus_03_dot_13_bar__plus_00_dot_74_bar__plus_03_dot_33 - object + Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68 - object + Potato_bar__minus_01_dot_66_bar__plus_00_dot_92_bar__plus_00_dot_56 - object + Potato_bar__minus_03_dot_08_bar__plus_00_dot_95_bar__plus_01_dot_61 - object + Potato_bar__minus_03_dot_46_bar__plus_00_dot_95_bar__plus_01_dot_61 - object + Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 - object + SaltShaker_bar__minus_03_dot_19_bar__plus_00_dot_74_bar__plus_03_dot_03 - object + SaltShaker_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_19 - object + SaltShaker_bar__minus_03_dot_46_bar__plus_00_dot_91_bar__plus_03_dot_83 - object + Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66 - object + SoapBottle_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__plus_03_dot_79 - object + SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_08_bar__plus_01_dot_43 - object + Spatula_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__plus_00_dot_05 - object + Spatula_bar__minus_01_dot_39_bar__plus_00_dot_91_bar__plus_00_dot_26 - object + Spatula_bar__minus_03_dot_13_bar__plus_00_dot_76_bar__plus_01_dot_20 - object + Spoon_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_04_dot_19 - object + Spoon_bar__minus_02_dot_80_bar__plus_00_dot_90_bar__plus_03_dot_57 - object + StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_01_dot_87 - object + StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_02 - object + StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_27 - object + 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loc_bar__minus_11_bar_6_bar_3_bar_45 - location + loc_bar__minus_9_bar_12_bar_3_bar_45 - location + loc_bar__minus_2_bar_12_bar_0_bar_60 - location + loc_bar__minus_11_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_12_bar_0_bar_45 - location + loc_bar__minus_10_bar_9_bar_3_bar_15 - location + loc_bar__minus_7_bar_10_bar_0_bar_60 - location + loc_bar__minus_8_bar_7_bar_3_bar_45 - location + loc_bar__minus_11_bar_12_bar_3_bar__minus_30 - location + loc_bar__minus_11_bar_6_bar_3_bar__minus_30 - location + loc_bar__minus_8_bar_10_bar_0_bar_60 - location + loc_bar__minus_9_bar_6_bar_3_bar_45 - location + loc_bar__minus_11_bar_12_bar_3_bar_45 - location + loc_bar__minus_10_bar_9_bar_3_bar_30 - location + loc_bar__minus_5_bar_13_bar_0_bar_60 - location + loc_bar__minus_9_bar_13_bar_0_bar_60 - location + loc_bar__minus_10_bar_8_bar_3_bar_30 - location + loc_bar__minus_5_bar_5_bar_2_bar_60 - location + loc_bar__minus_10_bar_9_bar_3_bar_45 - location + loc_bar__minus_2_bar_2_bar_3_bar_60 - location + loc_bar__minus_10_bar_9_bar_3_bar__minus_30 - location + loc_bar__minus_9_bar_10_bar_0_bar_60 - location + loc_bar__minus_11_bar_12_bar_0_bar_30 - location + loc_bar__minus_9_bar_1_bar_1_bar_15 - location + loc_bar__minus_11_bar_12_bar_0_bar__minus_15 - location + loc_bar__minus_1_bar_8_bar_1_bar_30 - location + loc_bar__minus_9_bar_1_bar_1_bar__minus_30 - location + loc_bar__minus_9_bar_13_bar_3_bar_45 - location + loc_bar__minus_11_bar_6_bar_3_bar_30 - location + loc_bar__minus_6_bar_10_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92 DrawerType) + (receptacleType Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 FridgeType) + (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 CabinetType) + (receptacleType StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97 StoveBurnerType) + (receptacleType 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CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle DishSponge_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_44 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Kettle_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_52 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Potato_bar__minus_03_dot_08_bar__plus_00_dot_95_bar__plus_01_dot_61 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Egg_bar__minus_03_dot_65_bar__plus_00_dot_95_bar__plus_01_dot_36 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Potato_bar__minus_03_dot_46_bar__plus_00_dot_95_bar__plus_01_dot_61 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Knife_bar__minus_03_dot_46_bar__plus_00_dot_94_bar__plus_01_dot_19 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle SaltShaker_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_19 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle PepperShaker_bar__minus_03_dot_13_bar__plus_00_dot_74_bar__plus_03_dot_33 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30) + (inReceptacle Bowl_bar__minus_03_dot_20_bar__plus_00_dot_08_bar__plus_02_dot_92 Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68) + (inReceptacle SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_08_bar__plus_01_dot_43 Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04) + (inReceptacle Pan_bar__minus_03_dot_14_bar__plus_00_dot_97_bar__plus_01_dot_97 StoveBurner_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_01_dot_97) + (inReceptacle Tomato_bar__minus_01_dot_86_bar__plus_00_dot_86_bar__plus_03_dot_66 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle Mug_bar__minus_03_dot_51_bar__plus_01_dot_54_bar__plus_02_dot_22 Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18) + (inReceptacle Apple_bar__minus_03_dot_47_bar__plus_01_dot_61_bar__plus_02_dot_02 Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18) + (inReceptacle SoapBottle_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__plus_03_dot_79 GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79) + (inReceptacle Egg_bar__minus_01_dot_26_bar__plus_00_dot_12_bar__plus_03_dot_79 GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79) + (inReceptacle Egg_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_03_dot_69 GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_42_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_8_bar_10_bar_0_bar_60) + 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loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation DishSponge_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_44 loc_bar__minus_11_bar_6_bar_3_bar_45) + (objectAtLocation Spoon_bar__minus_02_dot_80_bar__plus_00_dot_90_bar__plus_03_dot_57 loc_bar__minus_11_bar_12_bar_3_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__plus_00_dot_46 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 loc_bar__minus_9_bar_1_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (coolable ?o) + (objectType ?o LettuceType) + (receptacleType ?r SinkBasinType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_cool_then_place_in_recep-LettuceSliced-None-SinkBasin-15/trial_T20190909_101835_683416/traj_data.json 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0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_657c04b2", + "position": { + "x": -2.40283132, + "y": 0.915542, + "z": 3.89094138 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_73731673", + "position": { + "x": -1.523391, + "y": 0.891036868, + "z": -0.0535847545 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_58cf1806", + "position": { + "x": -1.60824549, + "y": 0.9166293, + "z": 4.18891144 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0af3d2bb", + "position": { + "x": -3.505489, + "y": 1.54129863, + "z": 2.22469854 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 75288183, + "scene_num": 15 + }, + "task_id": "trial_T20190909_101835_683416", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3UF6XXFFRR237_304SM51WA6VYPO1WRVBDE0JTU4IBSJ", + "high_descs": [ + "go to the counter to the left of the sink", + "pick up the knife", + "take the knife to the table", + "cut the head of lettuce on the table", + "take the knife to the fridge", + "put the knife in the fridge", + "go back to the table with the lettuce", + "pick up one slice of lettuce", + "take the slice to the fridge", + "chill the slice then remove", + "take the slice to the sink", + "put the chilled slice in the sink" + ], + "task_desc": "put a chilled, cut slice of lettuce in the sink", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3A0VPWPASCO9J_3Y5140Z9D07BZ4ZA5OZ05IIV2C3PI2", + "high_descs": [ + "Go to the counter to the left of the stove.", + "Pick up the knife on the counter.", + "Go past the door on the right to the table.", + "Slice the lettuce on the table.", + "Take the knife to the fridge.", + "Put the knife in the fridge.", + "Go back past the stove on the right to the table.", + "Pick up a lettuce slice on the table.", + "Take the lettuce to the fridge.", + "Chill the lettuce in the fridge.", + "Go to the sink.", + "Put the cold lettuce in the sink." + ], + "task_desc": "Put a cold piece of lettuce in the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3WMOAN2SREOGIP7XOGLRGI3UAYZNV0", + "high_descs": [ + "Turn around and walk to the counter to the left of the white stove.", + "Pick up the knife with the yellow handle on the counter.", + "Turn around and walk to the white table on the right.", + "Slice the head of lettuce on the table.", + "Turn left, take a right and walk to the black fridge on the left.", + "Put the knife inside the fridge on the bottom shelf and close the door.", + "Turn left, hang a left at the counter and walk to the white table on the left.", + "Pick up a slice of lettuce from the table.", + "Turn left, take a right and walk to the black fridge on the left.", + "Put the slice of lettuce on the top shelf inside the fridge, chill it, remove it and close the door.", + "Turn left and walk to the sink on the right.", + "Put the slice of chilled lettuce inside the sink." + ], + "task_desc": "Chill a knife and place a chilled slice of lettuce in a sink.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014639_335717/game.tw-pddl b/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014639_335717/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..72dad6a3cec5475ac387f78dad9f4c4872360679 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014639_335717/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot mug in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_014639_335717)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_15 - object\n Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_59 - object\n Bowl_bar__plus_00_dot_92_bar__plus_01_dot_52_bar__plus_01_dot_54 - object\n Bowl_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_98 - object\n Bread_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_09 - object\n Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_dot_07 - object\n Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object\n Cup_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09 - object\n Cup_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_06 - object\n Cup_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_61 - object\n DishSponge_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_03_dot_01 - object\n DishSponge_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_98 - object\n DishSponge_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_03_dot_24 - object\n Egg_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_01_dot_19 - object\n Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object\n Fork_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_50 - object\n HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object\n Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_03_dot_12 - object\n Lettuce_bar__minus_01_dot_45_bar__plus_01_dot_40_bar__minus_03_dot_31 - object\n Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object\n LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object\n Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 - object\n Mug_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_72 - object\n Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 - object\n PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_25 - object\n PepperShaker_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_02_dot_90 - object\n PepperShaker_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_34 - object\n PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 - object\n Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85 - object\n Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27 - object\n Potato_bar__plus_00_dot_77_bar__plus_01_dot_36_bar__minus_01_dot_31 - object\n Pot_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_17 - object\n Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n SaltShaker_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_21 - object\n SaltShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_20 - object\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object\n SoapBottle_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_22 - object\n SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_41 - object\n SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_32 - object\n Spatula_bar__plus_00_dot_77_bar__plus_01_dot_34_bar__minus_00_dot_94 - object\n Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_79 - object\n Spoon_bar__plus_00_dot_98_bar__plus_00_dot_46_bar__plus_01_dot_05 - object\n Spoon_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 - object\n StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n Tomato_bar__plus_00_dot_94_bar__plus_01_dot_71_bar__plus_01_dot_49 - object\n Tomato_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_26 - object\n Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object\n WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61 - object\n WineBottle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_01_dot_68 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle\n CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle\n CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle\n GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle\n Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle\n SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle\n loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_1_bar_60 - location\n loc_bar__minus_2_bar_7_bar_3_bar_45 - location\n loc_bar_0_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location\n loc_bar_1_bar_3_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location\n loc_bar_1_bar_4_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location\n loc_bar_3_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar_5_bar_0_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location\n loc_bar__minus_1_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar_0_bar__minus_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType)\n (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType)\n (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType)\n (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType)\n (objectType Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_15 AppleType)\n (objectType Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 KettleType)\n (objectType Cup_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_61 CupType)\n (objectType Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 ChairType)\n (objectType SaltShaker_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_21 SaltShakerType)\n (objectType Tomato_bar__plus_00_dot_94_bar__plus_01_dot_71_bar__plus_01_dot_49 TomatoType)\n (objectType Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 LettuceType)\n (objectType Bread_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_09 BreadType)\n (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Lettuce_bar__minus_01_dot_45_bar__plus_01_dot_40_bar__minus_03_dot_31 LettuceType)\n (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 PanType)\n (objectType WineBottle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_01_dot_68 WineBottleType)\n (objectType PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_25 PaperTowelRollType)\n (objectType PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 PepperShakerType)\n (objectType DishSponge_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_03_dot_01 DishSpongeType)\n (objectType PepperShaker_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_34 PepperShakerType)\n (objectType Bowl_bar__plus_00_dot_92_bar__plus_01_dot_52_bar__plus_01_dot_54 BowlType)\n (objectType Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 WindowType)\n (objectType Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_79 SpoonType)\n (objectType Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 PotType)\n (objectType Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_59 AppleType)\n (objectType Cup_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_06 CupType)\n (objectType WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61 WineBottleType)\n (objectType SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_41 SoapBottleType)\n (objectType Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_03_dot_12 KnifeType)\n (objectType Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_dot_07 BreadType)\n (objectType Pot_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_17 PotType)\n (objectType Bowl_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_98 BowlType)\n (objectType StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_32 SoapBottleType)\n (objectType Cup_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09 CupType)\n (objectType Fork_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_50 ForkType)\n (objectType Spatula_bar__plus_00_dot_77_bar__plus_01_dot_34_bar__minus_00_dot_94 SpatulaType)\n (objectType Tomato_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_26 TomatoType)\n (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType)\n (objectType DishSponge_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_98 DishSpongeType)\n (objectType LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 LightSwitchType)\n (objectType Spoon_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 SpoonType)\n (objectType PepperShaker_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_02_dot_90 PepperShakerType)\n (objectType Mug_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_72 MugType)\n (objectType Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 MugType)\n (objectType DishSponge_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_03_dot_24 DishSpongeType)\n (objectType Spoon_bar__plus_00_dot_98_bar__plus_00_dot_46_bar__plus_01_dot_05 SpoonType)\n (objectType Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27 PlateType)\n (objectType Potato_bar__plus_00_dot_77_bar__plus_01_dot_36_bar__minus_01_dot_31 PotatoType)\n (objectType SaltShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_20 SaltShakerType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType SoapBottle_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_22 SoapBottleType)\n (objectType HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 HousePlantType)\n (objectType Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85 PlateType)\n (objectType Egg_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_01_dot_19 EggType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType ForkType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain SinkBasinType SpoonType)\n (canContain SinkBasinType KettleType)\n (canContain SinkBasinType PotatoType)\n (canContain SinkBasinType LettuceType)\n (canContain SinkBasinType PotType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType SpatulaType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType KnifeType)\n (canContain SinkBasinType AppleType)\n (canContain SinkBasinType PlateType)\n (canContain SinkBasinType PanType)\n (canContain SinkBasinType MugType)\n (canContain SinkBasinType TomatoType)\n (canContain SinkBasinType CupType)\n (canContain SinkBasinType EggType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType AppleType)\n (canContain MicrowaveType PlateType)\n (canContain MicrowaveType BowlType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType TomatoType)\n (canContain MicrowaveType BreadType)\n (canContain MicrowaveType CupType)\n 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Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30)\n (inReceptacle SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_41 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Cup_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle Bread_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Lettuce_bar__minus_01_dot_45_bar__plus_01_dot_40_bar__minus_03_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle WineBottle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle DishSponge_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_03_dot_01 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle PepperShaker_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_34 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_03_dot_12 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_dot_07 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bowl_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Cup_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spatula_bar__plus_00_dot_77_bar__plus_01_dot_34_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle DishSponge_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spoon_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle PepperShaker_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_02_dot_90 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Mug_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle DishSponge_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_03_dot_24 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Potato_bar__plus_00_dot_77_bar__plus_01_dot_36_bar__minus_01_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SaltShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_32 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle SaltShaker_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_21 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle SoapBottle_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_25 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (inReceptacle Pot_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_17 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Tomato_bar__plus_00_dot_94_bar__plus_01_dot_71_bar__plus_01_dot_49 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Bowl_bar__plus_00_dot_92_bar__plus_01_dot_52_bar__plus_01_dot_54 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_15 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_59 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_50 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n (inReceptacle Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 loc_bar_0_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 loc_bar__minus_1_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 loc_bar__minus_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 loc_bar_0_bar_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 loc_bar_1_bar_3_bar_1_bar_30)\n (receptacleAtLocation SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 loc_bar_1_bar_4_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_9_bar_3_bar_30)\n (objectAtLocation Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_15 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_98_bar__plus_00_dot_46_bar__plus_01_dot_05 loc_bar__minus_1_bar_2_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_03_dot_24 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_02_dot_90 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_94_bar__plus_01_dot_71_bar__plus_01_dot_49 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_21 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_06 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loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Egg_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_01_dot_19 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 loc_bar_3_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_01_dot_45_bar__plus_01_dot_40_bar__minus_03_dot_31 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spatula_bar__plus_00_dot_77_bar__plus_01_dot_34_bar__minus_00_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_25 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_26 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar_0_bar__minus_4_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spoon_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_59 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CabinetType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take mug 1 from coffeemachine 1", "go to microwave 1", "heat mug 1 with microwave 1", "go to cabinet 1", "open cabinet 1", "move mug 1 to cabinet 1"]} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014639_335717/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014639_335717/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a75c7f6148a58d271293739cae4826bc975f8652 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014639_335717/initial_state.pddl @@ -0,0 +1,897 @@ + +(define (problem plan_trial_T20190909_014639_335717) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_15 - object + Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_59 - object + Bowl_bar__plus_00_dot_92_bar__plus_01_dot_52_bar__plus_01_dot_54 - object + Bowl_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_98 - object + Bread_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_09 - object + Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_dot_07 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09 - object + Cup_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_06 - object + Cup_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_61 - object + DishSponge_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_03_dot_01 - object + DishSponge_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_98 - object + DishSponge_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_03_dot_24 - object + Egg_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_01_dot_19 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_50 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_03_dot_12 - object + Lettuce_bar__minus_01_dot_45_bar__plus_01_dot_40_bar__minus_03_dot_31 - object + Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object + LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object + Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 - object + Mug_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_72 - object + Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 - object + PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_25 - object + PepperShaker_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_02_dot_90 - object + PepperShaker_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_34 - object + PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 - object + Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85 - object + Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27 - object + Potato_bar__plus_00_dot_77_bar__plus_01_dot_36_bar__minus_01_dot_31 - object + Pot_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_17 - object + Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + SaltShaker_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_21 - object + SaltShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_20 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_22 - object + SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_41 - object + SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_32 - object + Spatula_bar__plus_00_dot_77_bar__plus_01_dot_34_bar__minus_00_dot_94 - object + Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_79 - object + Spoon_bar__plus_00_dot_98_bar__plus_00_dot_46_bar__plus_01_dot_05 - object + Spoon_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 - object + StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + Tomato_bar__plus_00_dot_94_bar__plus_01_dot_71_bar__plus_01_dot_49 - object + Tomato_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_26 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61 - object + WineBottle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_01_dot_68 - object + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle + CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle + CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle + GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle + Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle + SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_60 - location + loc_bar__minus_1_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar_7_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar_3_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location + loc_bar_1_bar_4_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location + loc_bar_3_bar__minus_1_bar_1_bar_30 - location + loc_bar_0_bar_6_bar_1_bar_60 - location + loc_bar__minus_4_bar_5_bar_0_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location + loc_bar__minus_1_bar_2_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar_0_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType) + (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType) + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType) + (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType) + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType) + (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType) + (objectType Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_15 AppleType) + (objectType Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 KettleType) + (objectType Cup_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_61 CupType) + (objectType Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 ChairType) + (objectType SaltShaker_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_21 SaltShakerType) + (objectType Tomato_bar__plus_00_dot_94_bar__plus_01_dot_71_bar__plus_01_dot_49 TomatoType) + (objectType Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 LettuceType) + (objectType Bread_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_09 BreadType) + (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Lettuce_bar__minus_01_dot_45_bar__plus_01_dot_40_bar__minus_03_dot_31 LettuceType) + (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 PanType) + (objectType WineBottle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_01_dot_68 WineBottleType) + (objectType PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_25 PaperTowelRollType) + (objectType PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 PepperShakerType) + (objectType DishSponge_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_03_dot_01 DishSpongeType) + (objectType PepperShaker_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_34 PepperShakerType) + 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Cup_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09) + (heatable Tomato_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_26) + (heatable Mug_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_72) + (heatable Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53) + (heatable Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27) + (heatable Potato_bar__plus_00_dot_77_bar__plus_01_dot_36_bar__minus_01_dot_31) + (heatable Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85) + (heatable Egg_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_01_dot_19) + (coolable Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_15) + (coolable Cup_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_61) + (coolable Tomato_bar__plus_00_dot_94_bar__plus_01_dot_71_bar__plus_01_dot_49) + (coolable Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07) + (coolable 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Lettuce_bar__minus_01_dot_45_bar__plus_01_dot_40_bar__minus_03_dot_31) + (sliceable Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_59) + (sliceable Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_dot_07) + (sliceable Tomato_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_26) + (sliceable Potato_bar__plus_00_dot_77_bar__plus_01_dot_36_bar__minus_01_dot_31) + (sliceable Egg_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_01_dot_19) + + (inReceptacle Spoon_bar__plus_00_dot_98_bar__plus_00_dot_46_bar__plus_01_dot_05 Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02) + (inReceptacle Cup_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_06 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00) + (inReceptacle Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00) + (inReceptacle Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30) + (inReceptacle SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_41 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle Cup_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Bread_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Lettuce_bar__minus_01_dot_45_bar__plus_01_dot_40_bar__minus_03_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle WineBottle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle DishSponge_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_03_dot_01 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PepperShaker_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_34 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_03_dot_12 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CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_32 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle SaltShaker_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_21 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle PepperShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle SoapBottle_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_25 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97) + (inReceptacle Pot_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_17 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Tomato_bar__plus_00_dot_94_bar__plus_01_dot_71_bar__plus_01_dot_49 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Bowl_bar__plus_00_dot_92_bar__plus_01_dot_52_bar__plus_01_dot_54 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_15 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_59 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin) + 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loc_bar__minus_2_bar__minus_6_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_22 loc_bar_1_bar_4_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30) + (objectAtLocation Bread_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation PepperShaker_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_34 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_01_dot_32 loc_bar__minus_2_bar_7_bar_3_bar_45) + (objectAtLocation Cup_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation 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loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Spoon_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_59 loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o MugType) + (receptacleType ?r CabinetType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014639_335717/traj_data.json b/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014639_335717/traj_data.json new file mode 100644 index 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right, face counter with coffee maker on it.", + "Remove mug from coffee maker.", + "Turn left, proceed until microwave on right. Turn right to face microwave.", + "Open microwave door, put mug in and close door. Wait three seconds, open door, remove mug and close door.", + "Turn around, cross room to counter.", + "Open cabinet to right below counter, put mug in directly behind bottle, close cabinet door." + ], + "task_desc": "Move mug from coffee maker to microwave and heat, move to cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F51C49T9A34D_3F6KKYWMNESUO87BXVLXAWXNAGPND9", + "high_descs": [ + "turn to the right twice and take a few steps and turn to the left facing the counter top", + "take the cup from the coffee maker on the counter top", + "turn to the left and go the the front of the microwave and turn to the right facing the microwave", + "put the cup in the microwave and heat it and when finish heating take out the cup from the microwave", + "turn to the right and take a few steps and turn to the right and go to the counter", + "open the bottom right counter door and put the cup in it and close the door" + ], + "task_desc": "Place a heated cup in the bottom of the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3JMSRU9HQLLCOJUKVHI8QV9LWVOEV6", + "high_descs": [ + "turn around and walk over to the coffee maker on the kitchen counter to the left", + "grab the coffee mug out from underneath the coffee maker spout", + "turn left and walk over to the microwave at the end of the room on the right", + "place the cup inside the microwave, let the microwave microwave the cup for a bit, then take it back out", + "turn around and walk over to the kitchen counter to the right of the sink at the end of the room", + "place the cup inside of the cabinet to the bottom right of the sink under the kitchen counter" + ], + "task_desc": "place a microwaved coffee mug inside of the kitchen cabinet", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-DiningTable-16/trial_T20190907_201243_698086/game.tw-pddl b/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-DiningTable-16/trial_T20190907_201243_698086/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..563ebad34cd53606882061777a24d15bab8fe42f --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-DiningTable-16/trial_T20190907_201243_698086/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some tomato and put it in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_201243_698086)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Apple_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_02_dot_43 - object\n Bowl_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_56 - object\n Bowl_bar__plus_02_dot_51_bar__plus_00_dot_76_bar__plus_03_dot_58 - object\n 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Spatula_bar__plus_02_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_07 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Cup_bar__plus_02_dot_89_bar__plus_01_dot_03_bar__plus_01_dot_20 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Lettuce_bar__plus_02_dot_62_bar__plus_01_dot_09_bar__minus_01_dot_15 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Bowl_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_56 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Bread_bar__plus_02_dot_71_bar__plus_01_dot_09_bar__minus_00_dot_24 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Bowl_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_85 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Spoon_bar__plus_02_dot_23_bar__plus_01_dot_03_bar__plus_01_dot_70 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Potato_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_67 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Plate_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_88 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle ButterKnife_bar__plus_02_dot_14_bar__plus_00_dot_76_bar__plus_03_dot_76 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle DishSponge_bar__plus_02_dot_66_bar__plus_00_dot_76_bar__plus_03_dot_46 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CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Spatula_bar__minus_00_dot_67_bar__plus_01_dot_04_bar__plus_00_dot_60 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle PepperShaker_bar__plus_02_dot_87_bar__plus_00_dot_80_bar__minus_00_dot_79 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70)\n (inReceptacle Fork_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_22 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27)\n (inReceptacle PepperShaker_bar__plus_02_dot_63_bar__plus_00_dot_80_bar__plus_00_dot_82 Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72)\n (inReceptacle Fork_bar__plus_02_dot_68_bar__plus_00_dot_80_bar__plus_00_dot_87 Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72)\n (inReceptacle SaltShaker_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__plus_01_dot_63 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67)\n (inReceptacle Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36)\n (inReceptacle DishSponge_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_32 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48)\n (inReceptacle SaltShaker_bar__plus_02_dot_17_bar__plus_02_dot_28_bar__minus_01_dot_79 Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71)\n (inReceptacle WineBottle_bar__minus_00_dot_86_bar__plus_00_dot_34_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Tomato_bar__minus_00_dot_88_bar__plus_01_dot_50_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Cup_bar__minus_00_dot_95_bar__plus_00_dot_78_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Tomato_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_84 GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83)\n (inReceptacle Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_71_bar__plus_00_dot_83_bar__plus_01_dot_34 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_78_bar__plus_00_dot_86_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_78_bar__plus_00_dot_86_bar__plus_01_dot_57 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_65_bar__plus_00_dot_86_bar__plus_01_dot_10 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__plus_01_dot_26 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_9_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_7_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 loc_bar_8_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 loc_bar_6_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 loc_bar_6_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 loc_bar_6_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 loc_bar_8_bar__minus_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 loc_bar_2_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 loc_bar_2_bar_6_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 loc_bar_2_bar_8_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 loc_bar_0_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 loc_bar_0_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 loc_bar_0_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 loc_bar_0_bar_10_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30)\n (receptacleAtLocation DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 loc_bar_10_bar_12_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 loc_bar_3_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 loc_bar_4_bar_3_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 loc_bar_4_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 loc_bar_8_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 loc_bar_7_bar_0_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 loc_bar_7_bar_0_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 loc_bar_2_bar_2_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 loc_bar_2_bar_9_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 loc_bar_2_bar_11_bar_3_bar_30)\n (receptacleAtLocation Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 loc_bar_8_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin loc_bar_0_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_9_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_45_bar__plus_00_dot_76_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_56 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation DishSponge_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_32 loc_bar_6_bar_1_bar_1_bar_60)\n (objectAtLocation Cup_bar__plus_02_dot_89_bar__plus_01_dot_03_bar__plus_01_dot_20 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__plus_02_dot_10_bar__plus_00_dot_76_bar__plus_04_dot_04 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_02_dot_87_bar__plus_00_dot_80_bar__minus_00_dot_79 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_02_dot_17_bar__plus_02_dot_28_bar__minus_01_dot_79 loc_bar_7_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Lettuce_bar__plus_02_dot_62_bar__plus_01_dot_09_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_67_bar__plus_01_dot_04_bar__plus_00_dot_60 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Plate_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_88 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation WineBottle_bar__plus_01_dot_74_bar__plus_01_dot_03_bar__plus_01_dot_80 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Tomato_bar__plus_02_dot_17_bar__plus_00_dot_82_bar__plus_03_dot_48 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Fork_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_22 loc_bar_7_bar_0_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_78_bar__plus_00_dot_86_bar__plus_01_dot_57 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_31 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Knife_bar__plus_02_dot_98_bar__plus_00_dot_79_bar__plus_04_dot_04 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Glassbottle_bar__plus_02_dot_74_bar__plus_00_dot_77_bar__plus_03_dot_92 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation PepperShaker_bar__plus_02_dot_63_bar__plus_00_dot_80_bar__plus_00_dot_82 loc_bar_8_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_51_bar__plus_00_dot_76_bar__plus_03_dot_58 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_84 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__plus_01_dot_26 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_03_dot_53 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_65_bar__plus_00_dot_86_bar__plus_01_dot_10 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_31 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_71_bar__plus_00_dot_83_bar__plus_01_dot_34 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 loc_bar_0_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_02_dot_61_bar__plus_00_dot_76_bar__plus_04_dot_33 loc_bar_10_bar_12_bar_0_bar_30)\n (objectAtLocation Glassbottle_bar__plus_02_dot_58_bar__plus_00_dot_77_bar__plus_04_dot_04 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_62 loc_bar_2_bar_2_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__plus_02_dot_45_bar__plus_00_dot_76_bar__plus_03_dot_82 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_78_bar__plus_00_dot_86_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_02_dot_68_bar__plus_00_dot_80_bar__plus_00_dot_87 loc_bar_8_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_67 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Ladle_bar__minus_00_dot_79_bar__plus_01_dot_07_bar__plus_02_dot_56 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_00_dot_88_bar__plus_01_dot_50_bar__minus_00_dot_18 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0)\n (objectAtLocation WineBottle_bar__minus_00_dot_86_bar__plus_00_dot_34_bar__minus_00_dot_30 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Plate_bar__plus_02_dot_35_bar__plus_00_dot_76_bar__plus_04_dot_07 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_02_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_07 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_17_bar__plus_01_dot_13_bar__plus_01_dot_82 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_41 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_02_dot_43 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__plus_01_dot_63 loc_bar_4_bar_3_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_02_dot_14_bar__plus_00_dot_76_bar__plus_03_dot_76 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Bread_bar__plus_02_dot_71_bar__plus_01_dot_09_bar__minus_00_dot_24 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_95_bar__plus_00_dot_78_bar__minus_00_dot_52 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_02_dot_66_bar__plus_00_dot_76_bar__plus_03_dot_46 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_85 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 loc_bar_6_bar_15_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_02_dot_23_bar__plus_01_dot_03_bar__plus_01_dot_70 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r DiningTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take tomato 1 from diningtable 1", "go to microwave 1", "heat tomato 1 with microwave 1", "go to diningtable 1", "move tomato 1 to diningtable 1"]} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-DiningTable-16/trial_T20190907_201243_698086/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-DiningTable-16/trial_T20190907_201243_698086/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..42c1386119d8d2b20993ee8d8285822adcb25f0c --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_heat_then_place_in_recep-Tomato-None-DiningTable-16/trial_T20190907_201243_698086/initial_state.pddl @@ -0,0 +1,1473 @@ + +(define (problem plan_trial_T20190907_201243_698086) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + 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loc_bar_0_bar_10_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30) + (receptacleAtLocation DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 loc_bar_10_bar_12_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 loc_bar_3_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 loc_bar_4_bar_3_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 loc_bar_4_bar_4_bar_1_bar_45) + (receptacleAtLocation 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loc_bar_8_bar__minus_4_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_9_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Mug_bar__plus_02_dot_45_bar__plus_00_dot_76_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Bowl_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_56 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation DishSponge_bar__plus_02_dot_65_bar__plus_00_dot_03_bar__minus_00_dot_32 loc_bar_6_bar_1_bar_1_bar_60) + (objectAtLocation Cup_bar__plus_02_dot_89_bar__plus_01_dot_03_bar__plus_01_dot_20 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation ButterKnife_bar__plus_02_dot_10_bar__plus_00_dot_76_bar__plus_04_dot_04 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__plus_02_dot_87_bar__plus_00_dot_80_bar__minus_00_dot_79 loc_bar_7_bar__minus_3_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_02_dot_17_bar__plus_02_dot_28_bar__minus_01_dot_79 loc_bar_7_bar__minus_2_bar_2_bar__minus_30) + (objectAtLocation Lettuce_bar__plus_02_dot_62_bar__plus_01_dot_09_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Spatula_bar__minus_00_dot_67_bar__plus_01_dot_04_bar__plus_00_dot_60 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Plate_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_88 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation WineBottle_bar__plus_01_dot_74_bar__plus_01_dot_03_bar__plus_01_dot_80 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Tomato_bar__plus_02_dot_17_bar__plus_00_dot_82_bar__plus_03_dot_48 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Fork_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_22 loc_bar_7_bar_0_bar_1_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_78_bar__plus_00_dot_86_bar__plus_01_dot_57 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_31 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Knife_bar__plus_02_dot_98_bar__plus_00_dot_79_bar__plus_04_dot_04 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Glassbottle_bar__plus_02_dot_74_bar__plus_00_dot_77_bar__plus_03_dot_92 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Pan_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation PepperShaker_bar__plus_02_dot_63_bar__plus_00_dot_80_bar__plus_00_dot_82 loc_bar_8_bar__minus_1_bar_0_bar_45) + (objectAtLocation Bowl_bar__plus_02_dot_51_bar__plus_00_dot_76_bar__plus_03_dot_58 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Tomato_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_84 loc_bar__minus_2_bar_12_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__plus_01_dot_26 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation Cup_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_03_dot_53 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_65_bar__plus_00_dot_86_bar__plus_01_dot_10 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_31 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Spatula_bar__minus_00_dot_71_bar__plus_00_dot_83_bar__plus_01_dot_34 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 loc_bar_0_bar_5_bar_3_bar_45) + (objectAtLocation Pan_bar__plus_02_dot_61_bar__plus_00_dot_76_bar__plus_04_dot_33 loc_bar_10_bar_12_bar_0_bar_30) + (objectAtLocation Glassbottle_bar__plus_02_dot_58_bar__plus_00_dot_77_bar__plus_04_dot_04 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_62 loc_bar_2_bar_2_bar_3_bar_30) + (objectAtLocation SoapBottle_bar__plus_02_dot_45_bar__plus_00_dot_76_bar__plus_03_dot_82 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Egg_bar__minus_00_dot_78_bar__plus_00_dot_86_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation Fork_bar__plus_02_dot_68_bar__plus_00_dot_80_bar__plus_00_dot_87 loc_bar_8_bar__minus_1_bar_0_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_67 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Ladle_bar__minus_00_dot_79_bar__plus_01_dot_07_bar__plus_02_dot_56 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Tomato_bar__minus_00_dot_88_bar__plus_01_dot_50_bar__minus_00_dot_18 loc_bar_0_bar__minus_1_bar_3_bar_60) + (objectAtLocation Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 loc_bar_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0) + (objectAtLocation WineBottle_bar__minus_00_dot_86_bar__plus_00_dot_34_bar__minus_00_dot_30 loc_bar_0_bar__minus_1_bar_3_bar_60) + (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Plate_bar__plus_02_dot_35_bar__plus_00_dot_76_bar__plus_04_dot_07 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Spatula_bar__plus_02_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_07 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation PaperTowelRoll_bar__minus_01_dot_17_bar__plus_01_dot_13_bar__plus_01_dot_82 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30) + (objectAtLocation Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_41 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_02_dot_43 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation SaltShaker_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__plus_01_dot_63 loc_bar_4_bar_3_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation ButterKnife_bar__plus_02_dot_14_bar__plus_00_dot_76_bar__plus_03_dot_76 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation 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+ "high_descs": [ + "Turn around and go forward, and face the white table on the left.", + "Pick up the tomato at the front of the table.", + "Take the tomato and turn around. Go straight back, and turn left to locate the stove.", + "Place the tomato in the microwave and turn it on. Take out the tomato and shut the door.", + "Hold the tomato and turn around, then right to find the white table on the left.", + "Place the tomato on the table in the front." + ], + "task_desc": "Heat a tomato and place it on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_37TD41K0AKQ9E4749NIROY59IGDSCN", + "high_descs": [ + "Turn around and cross the room and turn left to face the white, round table", + "Pick up the tomato that is sitting on the white table", + "Turn left and take a few steps then cross the room to the stove that is to the left", + "Open the microwave that is above the stove and place the tomato inside, then close the microwave and turn it on. Open the microwave and pick up the tomato then close the microwave", + "Turn around and cross the room, after you pass the counter take a right and walk to the wall, then turn left and face the round, white table", + "Place the tomato on the table to the left of the brown bowl." + ], + "task_desc": "Place a cooked tomato on a table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3F1567XTNZMV3QLO5ZJVR8P0U9VQ9P", + "high_descs": [ + "Turn around and cross the room to stand in front of the white table.", + "Pick the tomato up from the white table.", + "Go left to cross the room and then turn left again to face the microwave.", + "Put the tomato into the microwave and turn it on and then off and take the tomato out and shut the door.", + "Turn around and cross the room and move to stand in front of the white table.", + "Put the tomato on the table." + ], + "task_desc": "Put a warmed tomato on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-ToiletPaper-None-Toilet-408/trial_T20190909_080302_174780/game.tw-pddl b/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-ToiletPaper-None-Toilet-408/trial_T20190909_080302_174780/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..47e6de5078fac4a0641c56cf0fd65cad4ac13e47 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-ToiletPaper-None-Toilet-408/trial_T20190909_080302_174780/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two toiletpaper in toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_080302_174780)\n(:domain alfred)\n(:objects\nagent1 - agent\nCurtains - object\n SprayBottle - object\n Mirror - object\n HousePlant - object\n Watch - object\n TeddyBear - object\n WateringCan - object\n Bathtub - object\n LightSwitch - object\n Vase - object\n Candle - object\n Bread - object\n Statue - object\n HandTowel - object\n StoveKnob - object\n PaperTowelRoll - object\n Pan - object\n PepperShaker - object\n Painting - object\n CellPhone - object\n Plunger - object\n Spoon - object\n SaltShaker - object\n KeyChain - object\n Footstool - object\n Poster - object\n Television - object\n LaundryHamperLid - object\n Glassbottle - object\n AlarmClock - object\n WineBottle - object\n Bowl - object\n Sink - object\n TissueBox - object\n TennisRacket - object\n ToiletPaper - object\n ScrubBrush - object\n CreditCard - object\n Laptop - object\n Cloth - object\n Cup - object\n Chair - object\n BasketBall - object\n Kettle - object\n PaperTowel - object\n ShowerDoor - object\n BaseballBat - object\n Potato - object\n Pillow - object\n Lettuce - object\n RemoteControl - object\n Window - object\n DishSponge - object\n CD - object\n Boots - object\n Blinds - object\n Pen - object\n Newspaper - object\n Plate - object\n Mug - object\n ShowerGlass - object\n ToiletPaperRoll - object\n SoapBar - object\n FloorLamp - object\n SoapBottle - object\n Pot - object\n Pencil - object\n Spatula - object\n Towel - object\n Fork - object\n Ladle - object\n Knife - object\n Apple - object\n Box - object\n Tomato - object\n ButterKnife - object\n Egg - object\n Book - object\n DeskLamp - object\nCurtainsType - otype\n SprayBottleType - otype\n MirrorType - otype\n HousePlantType - otype\n WatchType - otype\n TeddyBearType - otype\n WateringCanType - otype\n BathtubType - otype\n LightSwitchType - otype\n VaseType - otype\n CandleType - otype\n BreadType - otype\n StatueType - otype\n HandTowelType - otype\n StoveKnobType - otype\n PaperTowelRollType - otype\n PanType - otype\n PepperShakerType - otype\n PaintingType - otype\n CellPhoneType - otype\n PlungerType - otype\n SpoonType - otype\n SaltShakerType - otype\n KeyChainType - otype\n FootstoolType - otype\n PosterType - otype\n TelevisionType - otype\n LaundryHamperLidType - otype\n GlassbottleType - otype\n AlarmClockType - otype\n WineBottleType - otype\n BowlType - otype\n SinkType - otype\n TissueBoxType - otype\n TennisRacketType - otype\n ToiletPaperType - otype\n ScrubBrushType - otype\n CreditCardType - otype\n LaptopType - otype\n ClothType - otype\n CupType - otype\n ChairType - otype\n BasketBallType - otype\n KettleType - otype\n PaperTowelType - otype\n ShowerDoorType - otype\n BaseballBatType - otype\n PotatoType - otype\n PillowType - otype\n LettuceType - otype\n RemoteControlType - otype\n WindowType - otype\n DishSpongeType - otype\n CDType - otype\n BootsType - otype\n BlindsType - otype\n PenType - otype\n NewspaperType - otype\n PlateType - otype\n MugType - otype\n ShowerGlassType - otype\n ToiletPaperRollType - otype\n SoapBarType - otype\n FloorLampType - otype\n SoapBottleType - otype\n PotType - otype\n PencilType - otype\n SpatulaType - otype\n TowelType - otype\n ForkType - otype\n LadleType - otype\n KnifeType - otype\n AppleType - otype\n BoxType - otype\n TomatoType - otype\n ButterKnifeType - otype\n EggType - otype\n BookType - otype\n DeskLampType - otype\nCabinetType - rtype\n ShelfType - rtype\n DiningTableType - rtype\n TowelHolderType - rtype\n PaintingHangerType - rtype\n TVStandType - rtype\n LaundryHamperType - rtype\n OttomanType - rtype\n SafeType - rtype\n CoffeeMachineType - rtype\n CounterTopType - rtype\n ToiletType - rtype\n FridgeType - rtype\n CoffeeTableType - rtype\n SinkBasinType - rtype\n GarbageCanType - rtype\n BathtubBasinType - rtype\n SideTableType - rtype\n CartType - rtype\n BedType - rtype\n DeskType - rtype\n SofaType - rtype\n ArmChairType - rtype\n MicrowaveType - rtype\n HandTowelHolderType - rtype\n ToasterType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n DrawerType - rtype\n DresserType - rtype\n\n\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 - object\n Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18 - object\n Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_69 - object\n Candle_bar__minus_00_dot_86_bar__plus_01_dot_09_bar__plus_00_dot_81 - object\n Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83 - object\n Faucet_bar__plus_00_dot_27_bar__plus_00_dot_67_bar__plus_00_dot_91 - object\n Faucet_bar__minus_01_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n Faucet_bar__minus_02_dot_68_bar__plus_01_dot_02_bar__plus_00_dot_89 - object\n HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 - object\n LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 - object\n Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 - object\n Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 - object\n ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 - object\n ShowerCurtain_bar__minus_00_dot_29_bar__plus_01_dot_89_bar__minus_01_dot_03 - object\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 - object\n SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85 - object\n SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65 - object\n SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89 - object\n SoapBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_94 - object\n SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_57 - object\n SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 - object\n SprayBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_83 - object\n ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 - object\n ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_50 - object\n ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_70 - object\n ToiletPaper_bar__minus_02_dot_92_bar__plus_00_dot_18_bar__minus_01_dot_56 - object\n Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 - object\n Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle\n CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 - receptacle\n GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 - receptacle\n HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 - receptacle\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 - receptacle\n Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 - receptacle\n TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_8_bar_0_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_10_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar_2_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n loc_bar__minus_10_bar_0_bar_0_bar_45 - location\n loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_9_bar_0_bar_0_bar_0 - location\n loc_bar__minus_2_bar_2_bar_0_bar_30 - location\n loc_bar__minus_11_bar__minus_3_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 HandTowelHolderType)\n (receptacleType TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 TowelHolderType)\n (receptacleType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin BathtubBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 ToiletPaperHangerType)\n (receptacleType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 ToiletType)\n (receptacleType GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType)\n (objectType ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_70 ToiletPaperType)\n (objectType Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelType)\n (objectType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 BathtubType)\n (objectType SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85 SoapBarType)\n (objectType SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_57 SoapBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_50 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_02_dot_92_bar__plus_00_dot_18_bar__minus_01_dot_56 ToiletPaperType)\n (objectType HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelType)\n (objectType LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 LightSwitchType)\n (objectType ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 ScrubBrushType)\n (objectType SoapBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_94 SoapBottleType)\n (objectType SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89 SoapBarType)\n (objectType Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_69 CandleType)\n (objectType Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 MirrorType)\n (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (objectType SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 SoapBottleType)\n (objectType SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65 SoapBarType)\n (objectType ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperType)\n (objectType Candle_bar__minus_00_dot_86_bar__plus_01_dot_09_bar__plus_00_dot_81 CandleType)\n (objectType Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83 ClothType)\n (objectType SprayBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_83 SprayBottleType)\n (objectType Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18 CandleType)\n (objectType Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 PlungerType)\n (objectType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType ClothType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain ToiletType ClothType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType CandleType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (pickupable ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_70)\n (pickupable Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90)\n (pickupable SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85)\n (pickupable SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_57)\n (pickupable ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_50)\n (pickupable ToiletPaper_bar__minus_02_dot_92_bar__plus_00_dot_18_bar__minus_01_dot_56)\n (pickupable HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74)\n (pickupable ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (pickupable SoapBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_94)\n (pickupable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89)\n (pickupable Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_69)\n (pickupable SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83)\n (pickupable SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65)\n (pickupable ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67)\n (pickupable Candle_bar__minus_00_dot_86_bar__plus_01_dot_09_bar__plus_00_dot_81)\n (pickupable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83)\n (pickupable SprayBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_83)\n (pickupable Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18)\n (pickupable Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83)\n \n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (openable Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (openable Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (openable Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n \n (atLocation agent1 loc_bar__minus_11_bar__minus_3_bar_1_bar_30)\n \n (cleanable SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85)\n (cleanable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89)\n (cleanable SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65)\n (cleanable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_70 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_50 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42)\n (inReceptacle SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_57 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle SprayBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43)\n (inReceptacle ToiletPaper_bar__minus_02_dot_92_bar__plus_00_dot_18_bar__minus_01_dot_56 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56)\n (inReceptacle Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01)\n (inReceptacle SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65 Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin)\n (inReceptacle HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74)\n (inReceptacle ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69)\n (inReceptacle Candle_bar__minus_00_dot_86_bar__plus_01_dot_09_bar__plus_00_dot_81 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55)\n (inReceptacle SoapBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_94 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55)\n (inReceptacle SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_7_bar_0_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_94 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (objectAtLocation SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_57 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_69 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_8_bar_0_bar_0_bar_45)\n (objectAtLocation Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 loc_bar__minus_9_bar_0_bar_0_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_10_bar_0_bar_0_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 loc_bar__minus_2_bar_2_bar_0_bar_30)\n (objectAtLocation Candle_bar__minus_00_dot_86_bar__plus_01_dot_09_bar__plus_00_dot_81 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_50 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_92_bar__plus_00_dot_18_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_8_bar__minus_2_bar_0_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar__minus_2_bar_2_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_9_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 loc_bar__minus_2_bar_2_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 ToiletPaperType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 ToiletPaperType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toiletpaperhanger 1", "take toiletpaper 4 from toiletpaperhanger 1", "go to toilet 1", "move toiletpaper 4 to toilet 1", "go to garbagecan 1", "take toiletpaper 1 from garbagecan 1", "go to toilet 1", "move toiletpaper 1 to toilet 1"]} \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-ToiletPaper-None-Toilet-408/trial_T20190909_080302_174780/initial_state.pddl b/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-ToiletPaper-None-Toilet-408/trial_T20190909_080302_174780/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..eb50c428b7edbc7c75e5083274ffaf05453579f7 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-ToiletPaper-None-Toilet-408/trial_T20190909_080302_174780/initial_state.pddl @@ -0,0 +1,481 @@ + +(define (problem plan_trial_T20190909_080302_174780) +(:domain alfred) +(:objects +agent1 - agent +Curtains - object + SprayBottle - object + Mirror - object + HousePlant - object + Watch - object + TeddyBear - object + WateringCan - object + Bathtub - object + LightSwitch - object + Vase - object + Candle - object + Bread - object + Statue - object + HandTowel - object + StoveKnob - object + PaperTowelRoll - object + Pan - object + PepperShaker - object + Painting - object + CellPhone - object + Plunger - object + Spoon - object + SaltShaker - object + KeyChain - object + Footstool - object + Poster - object + Television - object + LaundryHamperLid - object + Glassbottle - object + AlarmClock - object + WineBottle - object + Bowl - object + Sink - object + TissueBox - object + TennisRacket - object + ToiletPaper - object + ScrubBrush - object + CreditCard - object + Laptop - object + Cloth - object + Cup - object + Chair - object + BasketBall - object + Kettle - object + PaperTowel - object + ShowerDoor - object + BaseballBat - object + Potato - object + Pillow - object + Lettuce - object + RemoteControl - object + Window - object + DishSponge - object + CD - object + Boots - object + Blinds - object + Pen - object + Newspaper - object + Plate - object + Mug - object + ShowerGlass - object + ToiletPaperRoll - object + SoapBar - object + FloorLamp - object + SoapBottle - object + Pot - object + Pencil - object + Spatula - object + Towel - object + Fork - object + Ladle - object + Knife - object + Apple - object + Box - object + Tomato - object + ButterKnife - object + Egg - object + Book - object + DeskLamp - object +CurtainsType - otype + SprayBottleType - otype + MirrorType - otype + HousePlantType - otype + WatchType - otype + TeddyBearType - otype + WateringCanType - otype + BathtubType - otype + LightSwitchType - otype + VaseType - otype + CandleType - otype + BreadType - otype + StatueType - otype + HandTowelType - otype + StoveKnobType - otype + PaperTowelRollType - otype + PanType - otype + PepperShakerType - otype + PaintingType - otype + CellPhoneType - otype + PlungerType - otype + SpoonType - otype + SaltShakerType - otype + KeyChainType - otype + FootstoolType - otype + PosterType - otype + TelevisionType - otype + LaundryHamperLidType - otype + GlassbottleType - otype + AlarmClockType - otype + WineBottleType - otype + BowlType - otype + SinkType - otype + TissueBoxType - otype + TennisRacketType - otype + ToiletPaperType - otype + ScrubBrushType - otype + CreditCardType - otype + LaptopType - otype + ClothType - otype + CupType - otype + ChairType - otype + BasketBallType - otype + KettleType - otype + PaperTowelType - otype + ShowerDoorType - otype + BaseballBatType - otype + PotatoType - otype + PillowType - otype + LettuceType - otype + RemoteControlType - otype + WindowType - otype + DishSpongeType - otype + CDType - otype + BootsType - otype + BlindsType - otype + PenType - otype + NewspaperType - otype + PlateType - otype + MugType - otype + ShowerGlassType - otype + ToiletPaperRollType - otype + SoapBarType - otype + FloorLampType - otype + SoapBottleType - otype + PotType - otype + PencilType - otype + SpatulaType - otype + TowelType - otype + ForkType - otype + LadleType - otype + KnifeType - otype + AppleType - otype + BoxType - otype + TomatoType - otype + ButterKnifeType - otype + EggType - otype + BookType - otype + DeskLampType - otype +CabinetType - rtype + ShelfType - rtype + DiningTableType - rtype + TowelHolderType - rtype + PaintingHangerType - rtype + TVStandType - rtype + LaundryHamperType - rtype + OttomanType - rtype + SafeType - rtype + CoffeeMachineType - rtype + CounterTopType - rtype + ToiletType - rtype + FridgeType - rtype + CoffeeTableType - rtype + SinkBasinType - rtype + GarbageCanType - rtype + BathtubBasinType - rtype + SideTableType - rtype + CartType - rtype + BedType - rtype + DeskType - rtype + SofaType - rtype + ArmChairType - rtype + MicrowaveType - rtype + HandTowelHolderType - rtype + ToasterType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + DrawerType - rtype + DresserType - rtype + + + Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 - object + Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18 - object + Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_69 - object + Candle_bar__minus_00_dot_86_bar__plus_01_dot_09_bar__plus_00_dot_81 - object + Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83 - object + Faucet_bar__plus_00_dot_27_bar__plus_00_dot_67_bar__plus_00_dot_91 - object + Faucet_bar__minus_01_dot_92_bar__plus_01_dot_02_bar__plus_00_dot_89 - object + Faucet_bar__minus_02_dot_68_bar__plus_01_dot_02_bar__plus_00_dot_89 - object + HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 - object + LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 - object + Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 - object + Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 - object + ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 - object + ShowerCurtain_bar__minus_00_dot_29_bar__plus_01_dot_89_bar__minus_01_dot_03 - object + Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 - object + Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 - object + SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85 - object + SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65 - object + SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89 - object + SoapBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_94 - object + SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_57 - object + SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 - object + SprayBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_83 - object + ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 - object + ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_50 - object + ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_70 - object + ToiletPaper_bar__minus_02_dot_92_bar__plus_00_dot_18_bar__minus_01_dot_56 - object + Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 - object + Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin - receptacle + Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle + Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 - receptacle + CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 - receptacle + GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 - receptacle + HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 - receptacle + Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle + Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 - receptacle + Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 - receptacle + TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location + loc_bar__minus_8_bar_0_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_10_bar_0_bar_0_bar_0 - location + loc_bar__minus_2_bar_2_bar_3_bar_60 - location + loc_bar__minus_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar__minus_10_bar_0_bar_0_bar_45 - location + loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_9_bar_0_bar_0_bar_0 - location + loc_bar__minus_2_bar_2_bar_0_bar_30 - location + loc_bar__minus_11_bar__minus_3_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType) + (receptacleType CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType) + (receptacleType HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 HandTowelHolderType) + (receptacleType TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 TowelHolderType) + (receptacleType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin BathtubBasinType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 ToiletPaperHangerType) + (receptacleType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 CabinetType) + (receptacleType Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 ToiletType) + (receptacleType GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 CabinetType) + (objectType ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_70 ToiletPaperType) + (objectType Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelType) + (objectType Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 BathtubType) + (objectType SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85 SoapBarType) + (objectType SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_57 SoapBottleType) + (objectType ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_50 ToiletPaperType) + (objectType ToiletPaper_bar__minus_02_dot_92_bar__plus_00_dot_18_bar__minus_01_dot_56 ToiletPaperType) + (objectType HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelType) + (objectType LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 LightSwitchType) + (objectType ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 ScrubBrushType) + (objectType SoapBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_94 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89 SoapBarType) + (objectType Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_69 CandleType) + (objectType Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 MirrorType) + (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType) + (objectType SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperType) + (objectType Candle_bar__minus_00_dot_86_bar__plus_01_dot_09_bar__plus_00_dot_81 CandleType) + (objectType Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83 ClothType) + (objectType SprayBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_83 SprayBottleType) + (objectType Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18 CandleType) + (objectType Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 PlungerType) + (objectType Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 SinkType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType ClothType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain ToiletType ClothType) + (canContain ToiletType SoapBarType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType CandleType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (pickupable ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_70) + (pickupable Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90) + (pickupable SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85) + (pickupable SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_57) + (pickupable ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_50) + (pickupable ToiletPaper_bar__minus_02_dot_92_bar__plus_00_dot_18_bar__minus_01_dot_56) + (pickupable HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74) + (pickupable ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87) + (pickupable SoapBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_94) + (pickupable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89) + (pickupable Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_69) + (pickupable SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83) + (pickupable SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65) + (pickupable ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67) + (pickupable Candle_bar__minus_00_dot_86_bar__plus_01_dot_09_bar__plus_00_dot_81) + (pickupable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83) + (pickupable SprayBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_83) + (pickupable Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18) + (pickupable Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83) + + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42) + (openable Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43) + (openable Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42) + (openable Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43) + + (atLocation agent1 loc_bar__minus_11_bar__minus_3_bar_1_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85) + (cleanable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89) + (cleanable SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65) + (cleanable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_70 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42) + (inReceptacle SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42) + (inReceptacle ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_50 Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42) + (inReceptacle SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43) + (inReceptacle SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_57 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43) + (inReceptacle SprayBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43) + (inReceptacle Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83 Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43) + (inReceptacle ToiletPaper_bar__minus_02_dot_92_bar__plus_00_dot_18_bar__minus_01_dot_56 GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56) + (inReceptacle Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01) + (inReceptacle SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65 Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin) + (inReceptacle HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74) + (inReceptacle ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69) + (inReceptacle Candle_bar__minus_00_dot_86_bar__plus_01_dot_09_bar__plus_00_dot_81 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55) + (inReceptacle SoapBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_94 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55) + (inReceptacle SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85 Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08_bar_BathtubBasin loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_6_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_31_bar__plus_00_dot_42_bar__plus_00_dot_43 loc_bar__minus_8_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_09_bar__plus_00_dot_39_bar__plus_00_dot_42 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_8_bar_0_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_92_bar__plus_00_dot_00_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_13_bar__plus_01_dot_69_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_7_bar_0_bar_0_bar_45) + (receptacleAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68_bar_SinkBasin loc_bar__minus_10_bar_0_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_69 loc_bar__minus_6_bar_0_bar_0_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__plus_00_dot_55 loc_bar__minus_2_bar_2_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_49_bar__plus_01_dot_35_bar__plus_01_dot_01 loc_bar__minus_2_bar_2_bar_0_bar_30) + (objectAtLocation SoapBottle_bar__minus_00_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_94 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_42_bar__plus_00_dot_82_bar__plus_00_dot_67 loc_bar__minus_6_bar_0_bar_0_bar_45) + (objectAtLocation SoapBar_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_85 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_18 loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_08_bar__plus_00_dot_57 loc_bar__minus_8_bar__minus_2_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_08_bar__plus_00_dot_89 loc_bar__minus_8_bar__minus_2_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_17_bar__plus_00_dot_56_bar__plus_00_dot_69 loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation Bathtub_bar__plus_00_dot_29_bar__plus_00_dot_29_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_8_bar_0_bar_0_bar_45) + (objectAtLocation Mirror_bar__minus_02_dot_31_bar__plus_01_dot_53_bar__plus_01_dot_00 loc_bar__minus_9_bar_0_bar_0_bar_0) + (objectAtLocation Sink_bar__minus_02_dot_68_bar__plus_00_dot_93_bar__plus_00_dot_68 loc_bar__minus_10_bar_0_bar_0_bar_45) + (objectAtLocation Towel_bar__minus_00_dot_49_bar__plus_01_dot_37_bar__plus_00_dot_90 loc_bar__minus_2_bar_2_bar_0_bar_30) + (objectAtLocation Candle_bar__minus_00_dot_86_bar__plus_01_dot_09_bar__plus_00_dot_81 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_39_bar__plus_01_dot_26_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_4_bar_2_bar_30) + (objectAtLocation HandTowel_bar__minus_03_dot_10_bar__plus_01_dot_59_bar__plus_00_dot_74 loc_bar__minus_10_bar_0_bar_0_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_65 loc_bar__minus_7_bar_0_bar_0_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_08_bar__plus_00_dot_50 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_69_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_92_bar__plus_00_dot_18_bar__minus_01_dot_56 loc_bar__minus_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_45_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_8_bar__minus_2_bar_0_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_49_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_99_bar__plus_00_dot_08_bar__plus_00_dot_83 loc_bar__minus_9_bar__minus_2_bar_0_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_83 loc_bar__minus_2_bar_2_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 ToiletPaperType) + (receptacleType ?r ToiletType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 ToiletPaperType) + (receptacleType ?r ToiletType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-ToiletPaper-None-Toilet-408/trial_T20190909_080302_174780/traj_data.json b/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-ToiletPaper-None-Toilet-408/trial_T20190909_080302_174780/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ba3d48bf3e1090b2fe084615580fc8165b614553 --- /dev/null +++ b/alfworld/json_2.1.1/valid_seen/pick_two_obj_and_place-ToiletPaper-None-Toilet-408/trial_T20190909_080302_174780/traj_data.json @@ -0,0 +1,5396 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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